相关论文: AOP-Net: All-in-One Perception Network for Joint L…

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…

Object detectors are usually equipped with backbone networks designed for image classification. It might be sub-optimal because of the gap between the tasks of image classification and object detection. In this work, we present DetNAS to…

The perception system for autonomous driving generally requires to handle multiple diverse sub-tasks. However, current algorithms typically tackle individual sub-tasks separately, which leads to low efficiency when aiming at obtaining…

Autonomous driving requires the inference of actionable information such as detecting and classifying objects, and determining the drivable space. To this end, we present Multi-View LidarNet (MVLidarNet), a two-stage deep neural network for…

3D object detection plays a fundamental role in enabling autonomous driving, which is regarded as the significant key to unlocking the bottleneck of contemporary transportation systems from the perspectives of safety, mobility, and…

In this paper, we present an extension to LaserNet, an efficient and state-of-the-art LiDAR based 3D object detector. We propose a method for fusing image data with the LiDAR data and show that this sensor fusion method improves the…

Recent developments and the beginning market introduction of high-resolution imaging 4D (3+1D) radar sensors have initialized deep learning-based radar perception research. We investigate deep learning-based models operating on radar point…

3D object detection with omnidirectional views enables safety-critical applications such as mobile robot navigation. Such applications increasingly operate on resource-constrained edge devices, facilitating reliable processing without…

3D object detection at long range is crucial for ensuring the safety and efficiency of self driving vehicles, allowing them to accurately perceive and react to objects, obstacles, and potential hazards from a distance. But most current…

This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…

3D object detection is a key perception component in autonomous driving. Most recent approaches are based on Lidar sensors only or fused with cameras. Maps (e.g., High Definition Maps), a basic infrastructure for intelligent vehicles,…

As the demand for enabling high-level autonomous driving has increased in recent years and visual perception is one of the critical features to enable fully autonomous driving, in this paper, we introduce an efficient approach for…

This paper tackles the 3D object detection problem, which is of vital importance for applications such as autonomous driving. Our framework uses a Machine Learning (ML) pipeline on a combination of monocular camera and LiDAR data to detect…

LIDAR point clouds and RGB-images are both extremely essential for 3D object detection. So many state-of-the-art 3D detection algorithms dedicate in fusing these two types of data effectively. However, their fusion methods based on Birds…

3D object detection is an essential task in autonomous driving and robotics. Though great progress has been made, challenges remain in estimating 3D pose for distant and occluded objects. In this paper, we present a novel framework named…

Estimating accurate lane lines in 3D space remains challenging due to their sparse and slim nature. Previous works mainly focused on using images for 3D lane detection, leading to inherent projection error and loss of geometry information.…

3D object detection is fundamentally important for various emerging applications, including autonomous driving and robotics. A key requirement for training an accurate 3D object detector is the availability of a large amount of LiDAR-based…

Monocular 3D object detection, with the aim of predicting the geometric properties of on-road objects, is a promising research topic for the intelligent perception systems of autonomous driving. Most state-of-the-art methods follow a…

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…

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…