相关论文: Bridging the View Disparity Between Radar and Came…

Fusing data from cameras and LiDAR sensors is an essential technique to achieve robust 3D object detection. One key challenge in camera-LiDAR fusion involves mitigating the large domain gap between the two sensors in terms of coordinates…

Autonomous driving requires an accurate and fast 3D perception system that includes 3D object detection, tracking, and segmentation. Although recent low-cost camera-based approaches have shown promising results, they are susceptible to poor…

When localizing and detecting 3D objects for autonomous driving scenes, obtaining information from multiple sensor (e.g. camera, LIDAR) typically increases the robustness of 3D detectors. However, the efficient and effective fusion of…

LiDAR and Radar are two complementary sensing approaches in that LiDAR specializes in capturing an object's 3D shape while Radar provides longer detection ranges as well as velocity hints. Though seemingly natural, how to efficiently…

Camera-radar fusion offers a robust and cost-effective alternative to LiDAR-based autonomous driving systems by combining complementary sensing capabilities: cameras provide rich semantic cues but unreliable depth, while radar delivers…

Despite radar's popularity in the automotive industry, for fusion-based 3D object detection, most existing works focus on LiDAR and camera fusion. In this paper, we propose TransCAR, a Transformer-based Camera-And-Radar fusion solution for…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

Multi-view camera-only 3D object detection largely follows two primary paradigms: exploiting bird's-eye-view (BEV) representations or focusing on perspective-view (PV) features, each with distinct advantages. Although several recent…

Robust 3D object detection is critical for safe autonomous driving. Camera and radar sensors are synergistic as they capture complementary information and work well under different environmental conditions. Fusing camera and radar data is…

Infrastructure-based perception plays a crucial role in intelligent transportation systems, offering global situational awareness and enabling cooperative autonomy. However, existing camera-based detection models often underperform in such…

Integrating LiDAR and camera information into Bird's-Eye-View (BEV) representation has emerged as a crucial aspect of 3D object detection in autonomous driving. However, existing methods are susceptible to the inaccurate calibration…

In autonomous driving, LiDAR and radar are crucial for environmental perception. LiDAR offers precise 3D spatial sensing information but struggles in adverse weather like fog. Conversely, radar signals can penetrate rain or mist due to…

3D perception based on the representations learned from multi-camera bird's-eye-view (BEV) is trending as cameras are cost-effective for mass production in autonomous driving industry. However, there exists a distinct performance gap…

We propose a new method for fusing a LIDAR point cloud and camera-captured images in the deep convolutional neural network (CNN). The proposed method constructs a new layer called non-homogeneous pooling layer to transform features between…

Reliable autonomous driving systems require accurate detection of traffic participants. To this end, multi-modal fusion has emerged as an effective strategy. In particular, 4D radar and LiDAR fusion methods based on multi-frame radar point…

Multi-view camera-based 3D perception can be conducted using bird's eye view (BEV) features obtained through perspective view-to-BEV transformations. Several studies have shown that the performance of these 3D perception methods can be…

Autonomous Vehicles (AVs) use multiple sensors to gather information about their surroundings. By sharing sensor data between Connected Autonomous Vehicles (CAVs), the safety and reliability of these vehicles can be improved through a…

Robust and accurate perception of dynamic objects and map elements is crucial for autonomous vehicles performing safe navigation in complex traffic scenarios. While vision-only methods have become the de facto standard due to their…

The majority of human detection methods rely on the sensor using visible lights (e.g., RGB cameras) but such sensors are limited in scenarios with degraded vision conditions. In this paper, we present a multimodal human detection system…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…