相关论文: DAIR-V2X: A Large-Scale Dataset for Vehicle-Infras…

Existing Vehicle-to-Everything (V2X) cooperative perception methods rely on accurate multi-agent 3D annotations. Nevertheless, it is time-consuming and expensive to collect and annotate real-world data, especially for V2X systems. In this…

Intelligent Transportation Systems (ITS) require reliable environmental perception to support safe and efficient transportation. With the rapid development of Vehicle-to-everything (V2X), roadside perception has become an effective means to…

Image-based 3D object detection is an inevitable part of autonomous driving because cheap onboard cameras are already available in most modern cars. Because of the accurate depth information, currently, most state-of-the-art 3D object…

Understanding road scenes for visual perception remains crucial for intelligent self-driving cars. In particular, it is desirable to detect unexpected small road hazards reliably in real-time, especially under varying adverse conditions…

For 3D object detection, both camera and lidar have been demonstrated to be useful sensory devices for providing complementary information about the same scenery with data representations in different modalities, e.g., 2D RGB image vs 3D…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

In the typical urban intersection scenario, both vehicles and infrastructures are equipped with visual and LiDAR sensors. By successfully integrating the data from vehicle-side and road monitoring devices, a more comprehensive and accurate…

We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…

Depth estimation is a fundamental component of spatial perception for autonomous driving and other unmanned systems operating in open urban environments. Existing depth datasets such as KITTI, nuScenes, and DDAD have advanced the field but…

Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…

Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…

Sensor fusion is crucial for an accurate and robust perception system on autonomous vehicles. Most existing datasets and perception solutions focus on fusing cameras and LiDAR. However, the collaboration between camera and radar is…

Camera and LiDAR sensor modalities provide complementary appearance and geometric information useful for detecting 3D objects for autonomous vehicle applications. However, current end-to-end fusion methods are challenging to train and…

This paper is the first to provide a thorough system design overview along with the fusion methods selection criteria of a real-world cooperative autonomous driving system, named Infrastructure-Augmented Autonomous Driving or IAAD. We…

The comprehensiveness of vehicle-to-everything (V2X) recognition enriches and holistically shapes the global Birds-Eye-View (BEV) perception, incorporating rich semantics and integrating driving scene information, thereby serving features…

Vehicles are no longer isolated entities in traffic environments, thanks to the development of IoV powered by 5G networks and their evolution into 6G. However, it is not enough for vehicles in a highly dynamic and complex traffic…

Many LiDAR-based methods for detecting large objects, single-class object detection, or under easy situations were claimed to perform quite well. However, their performances of detecting small objects or under hard situations did not…

Autonomous driving is a popular research area within the computer vision research community. Since autonomous vehicles are highly safety-critical, ensuring robustness is essential for real-world deployment. While several public multimodal…

Advancements in LiDAR technology have led to more cost-effective production while simultaneously improving precision and resolution. As a result, LiDAR has become integral to vehicle localization, achieving centimeter-level accuracy through…

3D object detection in driving scenarios faces the challenge of complex road environments, which can lead to the loss or incompleteness of key features, thereby affecting perception performance. To address this issue, we propose an advanced…