相关论文: LET-3D-AP: Longitudinal Error Tolerant 3D Average …

Transformer-based methods have swept the benchmarks on 2D and 3D detection on images. Because tokenization before the attention mechanism drops the spatial information, positional encoding becomes critical for those methods. Recent works…

Detecting objects such as cars and pedestrians in 3D plays an indispensable role in autonomous driving. Existing approaches largely rely on expensive LiDAR sensors for accurate depth information. While recently pseudo-LiDAR has been…

Accurate location information is essential for many wireless sensor network (WSN) applications. A location-aware WSN generally includes two types of nodes: sensors whose locations to be determined and anchors whose locations are known a…

In the field of remote sensing, we often utilize oriented bounding boxes (OBB) to bound the objects. This approach significantly reduces the overlap among dense detection boxes and minimizes the inclusion of background content within the…

Light Detection and Ranging (LiDAR) is an essential sensor technology for autonomous driving as it can capture high-resolution 3D data. As 3D object detection systems (OD) can interpret such point cloud data, they play a key role in the…

In this paper we propose an approach for monocular 3D object detection from a single RGB image, which leverages a novel disentangling transformation for 2D and 3D detection losses and a novel, self-supervised confidence score for 3D…

Variants of accuracy and precision are the gold-standard by which the computer vision community measures progress of perception algorithms. One reason for the ubiquity of these metrics is that they are largely task-agnostic; we in general…

Recent years have witnessed the remarkable progress of 3D multi-modality object detection methods based on the Bird's-Eye-View (BEV) perspective. However, most of them overlook the complementary interaction and guidance between LiDAR and…

3D localization in Multimodal Large Language Models (MLLMs), including 3D object detection and 3D visual grounding, is fundamentally limited by camera intrinsic ambiguity: the same image admits different 3D scenes under different cameras.…

Our study assesses the adversarial robustness of LiDAR-camera fusion models in 3D object detection. We introduce an attack technique that, by simply adding a limited number of physically constrained adversarial points above a car, can make…

In autonomous driving, the temporal stability of 3D object detection greatly impacts the driving safety. However, the detection stability cannot be accessed by existing metrics such as mAP and MOTA, and consequently is less explored by the…

Cross-category anomaly detection for 3D point clouds aims to determine whether an unseen object belongs to a target category using only a few normal examples. Most existing methods rely on category-specific training, which limits their…

The state of the art in 3D object detection using sensor fusion heavily relies on calibration quality, which is difficult to maintain in large scale deployment outside a lab environment. We present the first calibration-free approach for 3D…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

The combination of LiDAR and camera modalities is proven to be necessary and typical for 3D object detection according to recent studies. Existing fusion strategies tend to overly rely on the LiDAR modal in essence, which exploits the…

Mean Average Precision (mAP) is the primary evaluation measure for object detection. Although object detection has a broad range of applications, mAP evaluates detectors in terms of the performance of ranked instance retrieval. Such the…

We propose DeepFusion, a modular multi-modal architecture to fuse lidars, cameras and radars in different combinations for 3D object detection. Specialized feature extractors take advantage of each modality and can be exchanged easily,…

With the advent of autonomous vehicles, LiDAR and cameras have become an indispensable combination of sensors. They both provide rich and complementary data which can be used by various algorithms and machine learning to sense and make…

Visual simultaneous localization and mapping (SLAM) systems face challenges in detecting loop closure under the circumstance of large viewpoint changes. In this paper, we present an object-based loop closure detection method based on the…

Reliably assessing the error in an estimated vehicle position is integral for ensuring the vehicle's safety in urban environments. Many existing approaches use GNSS measurements to characterize protection levels (PLs) as probabilistic upper…