相关论文: EA-LSS: Edge-aware Lift-splat-shot Framework for 3…

State-of-the-art LiDAR-camera 3D object detectors usually focus on feature fusion. However, they neglect the factor of depth while designing the fusion strategy. In this work, we are the first to observe that different modalities play…

More and more research works fuse the LiDAR and camera information to improve the 3D object detection of the autonomous driving system. Recently, a simple yet effective fusion framework has achieved an excellent detection performance,…

Transparent object perception remains a major challenge in computer vision research, as transparency confounds both depth estimation and semantic segmentation. Recent work has explored multi-task learning frameworks to improve robustness,…

Bird's-eye view (BEV) perception has gained significant attention because it provides a unified representation to fuse multiple view images and enables a wide range of down-stream autonomous driving tasks, such as forecasting and planning.…

In this research, we propose a new 3D object detector with a trustworthy depth estimation, dubbed BEVDepth, for camera-based Bird's-Eye-View (BEV) 3D object detection. Our work is based on a key observation -- depth estimation in recent…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

Multi-modal sensor fusion in Bird's Eye View (BEV) representation has become the leading approach for 3D object detection. However, existing methods often rely on depth estimators or transformer encoders to transform image features into BEV…

We propose a late-to-early recurrent feature fusion scheme for 3D object detection using temporal LiDAR point clouds. Our main motivation is fusing object-aware latent embeddings into the early stages of a 3D object detector. This feature…

Combining complementary sensor modalities is crucial to providing robust perception for safety-critical robotics applications such as autonomous driving (AD). Recent state-of-the-art camera-lidar fusion methods for AD rely on monocular…

In recent years, monocular depth estimation is applied to understand the surrounding 3D environment and has made great progress. However, there is an ill-posed problem on how to gain depth information directly from a single image. With the…

Conventional visual simultaneous localization and mapping (SLAM) algorithms often fail under rapid motion, low illumination, or abrupt lighting transitions due to motion blur and limited dynamic range. Event cameras mitigate these issues…

4D millimeter-wave (MMW) radar, which provides both height information and dense point cloud data over 3D MMW radar, has become increasingly popular in 3D object detection. In recent years, radar-vision fusion models have demonstrated…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

Integrating LiDAR and Camera information into Bird's-Eye-View (BEV) has become an essential topic for 3D object detection in autonomous driving. Existing methods mostly adopt an independent dual-branch framework to generate LiDAR and camera…

Multimodal camera-LiDAR fusion technology has found extensive application in 3D object detection, demonstrating encouraging performance. However, existing methods exhibit significant performance degradation in challenging scenarios…

The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…

Lifting multi-view 2D instance segmentation to a radiance field has proven to be effective to enhance 3D understanding. Existing methods rely on direct matching for end-to-end lifting, yielding inferior results; or employ a two-stage…

Recent progress on salient object detection (SOD) mainly benefits from multi-scale learning, where the high-level and low-level features collaborate in locating salient objects and discovering fine details, respectively. However, most…

Deep learning has significantly advanced image edge detection (ED), primarily through improved feature extraction. However, most existing ED models apply uniform feature fusion across all pixels, ignoring critical differences between…

Achieving 3D reconstruction from images captured under optimal conditions has been extensively studied in the vision and imaging fields. However, in real-world scenarios, challenges such as motion blur and insufficient illumination often…