相关论文: Sparse4D: Multi-view 3D Object Detection with Spar…

3D object detection based on LiDAR point cloud and prior anchor boxes is a critical technology for autonomous driving environment perception and understanding. Nevertheless, an overlooked practical issue in existing methods is the ambiguity…

Recent work on 3D object detection advocates point cloud voxelization in birds-eye view, where objects preserve their physical dimensions and are naturally separable. When represented in this view, however, point clouds are sparse and have…

We introduce ForeSight, a novel joint detection and forecasting framework for vision-based 3D perception in autonomous vehicles. Traditional approaches treat detection and forecasting as separate sequential tasks, limiting their ability to…

While recent low-cost radar-camera approaches have shown promising results in multi-modal 3D object detection, both sensors face challenges from environmental and intrinsic disturbances. Poor lighting or adverse weather conditions degrade…

In this research, I proposed a network structure for multi-view 3D object detection using camera-only data and a Bird's-Eye-View map. My work is based on a current key challenge domain adaptation and visual data transfer. Although many…

In this paper, we propose a novel training strategy called SupFusion, which provides an auxiliary feature level supervision for effective LiDAR-Camera fusion and significantly boosts detection performance. Our strategy involves a data…

Accurate 3D object detection for autonomous driving requires complementary sensors. Cameras provide dense semantics but unreliable depth, while millimeter-wave radar offers precise range and velocity measurements with sparse geometry. We…

3D object detection in point clouds is important for autonomous driving systems. A primary challenge in 3D object detection stems from the sparse distribution of points within the 3D scene. Existing high-performance methods typically employ…

LiDAR-based fully sparse architecture has garnered increasing attention. FSDv1 stands out as a representative work, achieving impressive efficacy and efficiency, albeit with intricate structures and handcrafted designs. In this paper, we…

Beam prediction is critical for reducing beam-training overhead in millimeter-wave (mmWave) systems, especially in high-mobility vehicular scenarios. This paper presents a BEV-Fusion based framework that unifies camera, LiDAR, radar, and…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

Although multiview fusion has demonstrated potential in LiDAR segmentation, its dependence on computationally intensive point-based interactions, arising from the lack of fixed correspondences between views such as range view and Bird's-Eye…

Camera-LiDAR fusion is widely used in autonomous driving to enable accurate 3D object detection. However, bird's-eye view (BEV) fusion detectors can degrade significantly under domain shift and sensor failures, limiting reliability in…

3D object detection has been widely studied due to its potential applicability to many promising areas such as robotics and augmented reality. Yet, the sparse nature of the 3D data poses unique challenges to this task. Most notably, the…

3D object detection with point clouds and images plays an important role in perception tasks such as autonomous driving. Current methods show great performance on detection and pose estimation of standard-shaped vehicles but lack behind on…

Object detection in 3D point clouds is a crucial task in a range of computer vision applications including robotics, autonomous cars, and augmented reality. This work addresses the object detection task in 3D point clouds using a highly…

In cooperative perception studies, there is often a trade-off between communication bandwidth and perception performance. While current feature fusion solutions are known for their excellent object detection performance, transmitting the…

Vision-centric Bird's Eye View (BEV) perception holds considerable promise for autonomous driving. Recent studies have prioritized efficiency or accuracy enhancements, yet the issue of domain shift has been overlooked, leading to…

Vision-based 3D Detection task is fundamental task for the perception of an autonomous driving system, which has peaked interest amongst many researchers and autonomous driving engineers. However achieving a rather good 3D BEV (Bird's Eye…

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…