相关论文: Transformer-Based Sensor Fusion for Autonomous Dri…

In this paper, we present a Transformer-based architecture for 3D radar object detection that uses a novel Transformer Decoder as the prediction head to directly regress 3D bounding boxes and class scores from radar feature representations.…

Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive tasks. However,…

Camera and lidar are important sensor modalities for robotics in general and self-driving cars in particular. The sensors provide complementary information offering an opportunity for tight sensor-fusion. Surprisingly, lidar-only methods…

Human decision-making often relies on visual information from multiple perspectives or views. In contrast, machine learning-based object recognition utilizes information from a single image of the object. However, the information conveyed…

In this paper, we demonstrate that deep learning based method can be used to fuse multi-object densities. Given a scenario with several sensors with possibly different field-of-views, tracking is performed locally in each sensor by a…

In the recent literature, on the one hand, many 3D multi-object tracking (MOT) works have focused on tracking accuracy and neglected computation speed, commonly by designing rather complex cost functions and feature extractors. On the other…

Recently, transformer networks have outperformed traditional deep neural networks in natural language processing and show a large potential in many computer vision tasks compared to convolutional backbones. In the original transformer,…

The core for tackling the fine-grained visual categorization (FGVC) is to learn subtle yet discriminative features. Most previous works achieve this by explicitly selecting the discriminative parts or integrating the attention mechanism via…

We present Laneformer, a conceptually simple yet powerful transformer-based architecture tailored for lane detection that is a long-standing research topic for visual perception in autonomous driving. The dominant paradigms rely on purely…

Multi-object tracking (MOT) with camera-LiDAR fusion demands accurate results of object detection, affinity computation and data association in real time. This paper presents an efficient multi-modal MOT framework with online joint…

Video-based behavior recognition is essential in fields such as public safety, intelligent surveillance, and human-computer interaction. Traditional 3D Convolutional Neural Network (3D CNN) effectively capture local spatiotemporal features…

Ensuring traffic safety and mitigating accidents in modern driving is of paramount importance, and computer vision technologies have the potential to significantly contribute to this goal. This paper presents a multi-modal Vision…

Transformers have rapidly gained popularity in computer vision, especially in the field of object recognition and detection. Upon examining the outcomes of state-of-the-art object detection methods, we noticed that transformers consistently…

4D radar has received significant attention in autonomous driving thanks to its robustness under adverse weathers. Due to the sparse points and noisy measurements of the 4D radar, most of the research finish the 3D object detection task by…

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…

In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…

Robust road segmentation is a key challenge in self-driving research. Though many image-based methods have been studied and high performances in dataset evaluations have been reported, developing robust and reliable road segmentation is…

Accurate detection of obstacles in 3D is an essential task for autonomous driving and intelligent transportation. In this work, we propose a general multimodal fusion framework FusionPainting to fuse the 2D RGB image and 3D point clouds at…

The success of the transformer architecture in natural language processing has recently triggered attention in the computer vision field. The transformer has been used as a replacement for the widely used convolution operators, due to its…

Multispectral image pairs can provide the combined information, making object detection applications more reliable and robust in the open world. To fully exploit the different modalities, we present a simple yet effective cross-modality…