相关论文: Normal Transformer: Extracting Surface Geometry fr…

There is a recent trend in the LiDAR perception field towards unifying multiple tasks in a single strong network with improved performance, as opposed to using separate networks for each task. In this paper, we introduce a new LiDAR…

Accurate detection of 3D objects is a fundamental problem in computer vision and has an enormous impact on autonomous cars, augmented/virtual reality and many applications in robotics. In this work we present a novel fusion of neural…

The Large-scale 3D reconstruction, texturing and semantic mapping are nowadays widely used for automated driving vehicles, virtual reality and automatic data generation. However, most approaches are developed for RGB-D cameras with colored…

Autonomous driving datasets are often skewed and in particular, lack training data for objects at farther distances from the ego vehicle. The imbalance of data causes a performance degradation as the distance of the detected objects…

Recently, graph-based and Transformer-based deep learning networks have demonstrated excellent performances on various point cloud tasks. Most of the existing graph methods are based on static graph, which take a fixed input to establish…

Multimodal camera-LiDAR fusion technology has found extensive application in 3D object detection, demonstrating encouraging performance. However, existing methods exhibit significant performance degradation in challenging scenarios…

Transformer-based methods have shown impressive performance in image restoration tasks, such as image super-resolution and denoising. However, we find that these networks can only utilize a limited spatial range of input information through…

LiDAR and camera are two important sensors for 3D object detection in autonomous driving. Despite the increasing popularity of sensor fusion in this field, the robustness against inferior image conditions, e.g., bad illumination and sensor…

Multi-modal 3D object detection has been an active research topic in autonomous driving. Nevertheless, it is non-trivial to explore the cross-modal feature fusion between sparse 3D points and dense 2D pixels. Recent approaches either fuse…

With the rapid development of high-resolution 3D vision applications, the traditional way of manipulating surface detail requires considerable memory and computing time. To address these problems, we introduce an efficient surface detail…

Most of existing RGB-D salient object detection (SOD) methods follow the CNN-based paradigm, which is unable to model long-range dependencies across space and modalities due to the natural locality of CNNs. Here we propose the Hierarchical…

The Visual Geometry Grounded Transformer (VGGT) marks a significant leap forward in 3D scene reconstruction, as it is the first model that directly infers all key 3D attributes (camera poses, depths, and dense geometry) jointly in one pass.…

Deploying depth estimation networks in the real world requires high-level robustness against various adverse conditions to ensure safe and reliable autonomy. For this purpose, many autonomous vehicles employ multi-modal sensor systems,…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

As the field of remote sensing is evolving, we witness the accumulation of information from several modalities, such as multispectral (MS), hyperspectral (HSI), LiDAR etc. Each of these modalities possess its own distinct characteristics…

Multi-modal fusion is a fundamental task for the perception of an autonomous driving system, which has recently intrigued many researchers. However, achieving a rather good performance is not an easy task due to the noisy raw data,…

Despite the good results that have been achieved in unimodal segmentation, the inherent limitations of individual data increase the difficulty of achieving breakthroughs in performance. For that reason, multi-modal learning is increasingly…

This paper focuses on the construction of stronger local features and the effective fusion of image and LiDAR data. We adopt different modalities of LiDAR data to generate richer features and present an adaptive and azimuth-aware network to…

In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…

Deep learning on point clouds has made a lot of progress recently. Many point cloud dedicated deep learning frameworks, such as PointNet and PointNet++, have shown advantages in accuracy and speed comparing to those using traditional 3D…