相关论文: Benchmarking Robustness of 3D Object Detection to …

Multi-modal 3D object detection models for automated driving have demonstrated exceptional performance on computer vision benchmarks like nuScenes. However, their reliance on densely sampled LiDAR point clouds and meticulously calibrated…

Object detection through LiDAR-based point cloud has recently been important in autonomous driving. Although achieving high accuracy on public benchmarks, the state-of-the-art detectors may still go wrong and cause a heavy loss due to the…

The robustness of 3D perception systems under natural corruptions from environments and sensors is pivotal for safety-critical applications. Existing large-scale 3D perception datasets often contain data that are meticulously cleaned. Such…

Multi-sensor fusion models play a crucial role in autonomous driving perception, particularly in tasks like 3D object detection and HD map construction. These models provide essential and comprehensive static environmental information for…

The main barrier to achieving fully autonomous flights lies in autonomous aircraft navigation. Managing non-cooperative traffic presents the most important challenge in this problem. The most efficient strategy for handling non-cooperative…

Depth estimation from monocular images is pivotal for real-world visual perception systems. While current learning-based depth estimation models train and test on meticulously curated data, they often overlook out-of-distribution (OoD)…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…

Optical flow estimation is extensively used in autonomous driving and video editing. While existing models demonstrate state-of-the-art performance across various benchmarks, the robustness of these methods has been infrequently…

Deep neural networks on 3D point cloud data have been widely used in the real world, especially in safety-critical applications. However, their robustness against corruptions is less studied. In this paper, we present ModelNet40-C, the…

When using LiDAR semantic segmentation models for safety-critical applications such as autonomous driving, it is essential to understand and improve their robustness with respect to a large range of LiDAR corruptions. In this paper, we aim…

LiDAR odometry and localization are two widely used and fundamental applications in robotic and autonomous driving systems. Although state-of-the-art (SOTA) systems achieve high accuracy on clean point clouds, their robustness to corrupted…

The ability to detect objects regardless of image distortions or weather conditions is crucial for real-world applications of deep learning like autonomous driving. We here provide an easy-to-use benchmark to assess how object detection…

The robustness of object detection models is a major concern when applied to real-world scenarios. The performance of most models tends to degrade when confronted with images affected by corruptions, since they are usually trained and…

3D perception, especially point cloud classification, has achieved substantial progress. However, in real-world deployment, point cloud corruptions are inevitable due to the scene complexity, sensor inaccuracy, and processing imprecision.…

The performance of computer vision models are susceptible to unexpected changes in input images caused by sensor errors or extreme imaging environments, known as common corruptions (e.g. noise, blur, illumination changes). These corruptions…

In recent years, significant progress has been achieved for 3D object detection on point clouds thanks to the advances in 3D data collection and deep learning techniques. Nevertheless, 3D scenes exhibit a lot of variations and are prone to…

Temporal action detection (TAD) aims to locate action positions and recognize action categories in long-term untrimmed videos. Although many methods have achieved promising results, their robustness has not been thoroughly studied. In…

The robustness of unmanned aerial vehicle (UAV) tracking is crucial in many tasks like surveillance and robotics. Despite its importance, little attention is paid to the performance of UAV trackers under common corruptions due to lack of a…

Pose estimation aims to accurately identify anatomical keypoints in humans and animals using monocular images, which is crucial for various applications such as human-machine interaction, embodied AI, and autonomous driving. While current…