相关论文: 3D Data Augmentation for Driving Scenes on Camera

Neural radiance field is an emerging rendering method that generates high-quality multi-view consistent images from a neural scene representation and volume rendering. Although neural radiance field-based techniques are robust for scene…

Typical LiDAR-based 3D object detection models are trained in a supervised manner with real-world data collection, which is often imbalanced over classes (or long-tailed). To deal with it, augmenting minority-class examples by sampling…

According to the World Health Organization, distracted driving is one of the leading cause of motor accidents and deaths in the world. In our study, we tackle the problem of distracted driving by aiming to build a robust multi-class…

Current multi-view 3D object detection methods typically transfer 2D features into 3D space using depth estimation or 3D position encoder, but in a fully data-driven and implicit manner, which limits the detection performance. Inspired by…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

In the realm of digital situational awareness during disaster situations, accurate digital representations, like 3D models, play an indispensable role. To ensure the safety of rescue teams, robotic platforms are often deployed to generate…

Faithfully reconstructing 3D geometry and generating novel views of scenes are critical tasks in 3D computer vision. Despite the widespread use of image augmentations across computer vision applications, their potential remains…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Multi-camera setups find widespread use across various applications, such as autonomous driving, as they greatly expand sensing capabilities. Despite the fast development of Neural radiance field (NeRF) techniques and their wide…

LiDAR and camera are two modalities available for 3D semantic segmentation in autonomous driving. The popular LiDAR-only methods severely suffer from inferior segmentation on small and distant objects due to insufficient laser points, while…

In this study, we introduce the DriveEnv-NeRF framework, which leverages Neural Radiance Fields (NeRF) to enable the validation and faithful forecasting of the efficacy of autonomous driving agents in a targeted real-world scene. Standard…

Existing datasets for training pedestrian detectors in images suffer from limited appearance and pose variation. The most challenging scenarios are rarely included because they are too difficult to capture due to safety reasons, or they are…

Safety-critical driving data is crucial for developing safe and trustworthy self-driving algorithms. Due to the scarcity of safety-critical data in naturalistic datasets, current approaches primarily utilize simulated or artificially…

Detecting vehicles and representing their position and orientation in the three dimensional space is a key technology for autonomous driving. Recently, methods for 3D vehicle detection solely based on monocular RGB images gained popularity.…

Deep neural networks (DNNs) have been proven extremely susceptible to adversarial examples, which raises special safety-critical concerns for DNN-based autonomous driving stacks (i.e., 3D object detection). Although there are extensive…

When capturing images through the glass during rainy or snowy weather conditions, the resulting images often contain waterdrops adhered on the glass surface, and these waterdrops significantly degrade the image quality and performance of…

The rapid development of 3D object detection systems for self-driving cars has significantly improved accuracy. However, these systems struggle to generalize across diverse driving environments, which can lead to safety-critical failures in…

Neural Radiance Field (NeRF) regresses a neural parameterized scene by differentially rendering multi-view images with ground-truth supervision. However, when interpolating novel views, NeRF often yields inconsistent and visually non-smooth…

Synthesis of diverse driving scenes serves as a crucial data augmentation technique for validating the robustness and generalizability of autonomous driving systems. Current methods aggregate high-definition (HD) maps and 3D bounding boxes…

Robust lane detection is essential for advanced driver assistance and autonomous driving, yet models trained on public datasets such as CULane often fail to generalise across different camera viewpoints. This paper addresses the challenge…