相关论文: AdaptiveShape: Solving Shape Variability for 3D Ob…

Cooperative perception allows connected vehicles and roadside infrastructure to share sensor observations, creating a fused scene representation beyond the capability of any single platform. However, most cooperative 3D object detectors use…

3D shape anomaly detection is a crucial task for industrial inspection and geometric analysis. Existing deep learning approaches typically learn representations of normal shapes and identify anomalies via out-of-distribution feature…

Scene understanding from images is a challenging problem encountered in autonomous driving. On the object level, while 2D methods have gradually evolved from computing simple bounding boxes to delivering finer grained results like instance…

Recent years have witnessed the increasing application of place recognition in various environments, such as city roads, large buildings, and a mix of indoor and outdoor places. This task, however, still remains challenging due to the…

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…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

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…

Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

We present 3DiffTection, a state-of-the-art method for 3D object detection from single images, leveraging features from a 3D-aware diffusion model. Annotating large-scale image data for 3D detection is resource-intensive and time-consuming.…

3D object detection is a common function within the perception system of an autonomous vehicle and outputs a list of 3D bounding boxes around objects of interest. Various 3D object detection methods have relied on fusion of different sensor…

We introduce a new approach for estimating the 3D pose and the 3D shape of an object from a single image. Given a training set of view exemplars, we learn and select appearance-based discriminative parts which are mapped onto the 3D model…

Enhancing the robustness of object detection systems under adverse weather conditions is crucial for the advancement of autonomous driving technology. This study presents a novel approach leveraging the diffusion model Instruct Pix2Pix to…

3D vehicle detection based on multi-modal fusion is an important task of many applications such as autonomous driving. Although significant progress has been made, we still observe two aspects that need to be further improvement: First, the…

In recent years, 3D object perception has become a crucial component in the development of autonomous driving systems, providing essential environmental awareness. However, as perception tasks in autonomous driving evolve, their variants…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

Autonomous Vehicles (AVs) are mostly reliant on LiDAR sensors which enable spatial perception of their surroundings and help make driving decisions. Recent works demonstrated attacks that aim to hide objects from AV perception, which can…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

Autonomous vehicles may make wrong decisions due to inaccurate detection and recognition. Therefore, an intelligent vehicle can combine its own data with that of other vehicles to enhance perceptive ability, and thus improve detection…

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…