相关论文: SDVRF: Sparse-to-Dense Voxel Region Fusion for Mul…

Multi-modal sensor data fusion takes advantage of complementary or reinforcing information from each sensor and can boost overall performance in applications such as scene classification and target detection. This paper presents a new…

Accurate and robust 3D object detection is a critical component in autonomous vehicles and robotics. While recent radar-camera fusion methods have made significant progress by fusing information in the bird's-eye view (BEV) representation,…

The sparse object detection paradigm shift towards dense 3D semantic occupancy prediction is necessary for dealing with long-tail safety challenges for autonomous vehicles. Nonetheless, the current voxelization methods commonly suffer from…

Recent breakthroughs in Visual Language Models (VLMs) and Multimodal Large Language Models (MLLMs) have significantly advanced 3D scene perception towards language-driven cognition. However, existing 3D language models struggle with sparse,…

Accurate 3D object detection in large-scale outdoor scenes, characterized by considerable variations in object scales, necessitates features rich in both long-range and fine-grained information. While recent detectors have utilized…

To boost a detector for single-frame 3D object detection, we present a new approach to train it to simulate features and responses following a detector trained on multi-frame point clouds. Our approach needs multi-frame point clouds only…

Vision-based autonomous driving requires reliable and efficient object detection. This work proposes a DiffusionDet-based framework that exploits data fusion from the monocular camera and depth sensor to provide the RGB and depth (RGB-D)…

Environmental perception with the multi-modal fusion of radar and camera is crucial in autonomous driving to increase accuracy, completeness, and robustness. This paper focuses on utilizing millimeter-wave (MMW) radar and camera sensor…

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…

In this work, we present a dense tracking and mapping system named Vox-Fusion, which seamlessly fuses neural implicit representations with traditional volumetric fusion methods. Our approach is inspired by the recently developed implicit…

In this paper, we propose a novel approach to address the problem of camera and radar sensor fusion for 3D object detection in autonomous vehicle perception systems. Our approach builds on recent advances in deep learning and leverages the…

We extend the recently proposed sparse voxel rasterization paradigm to the task of high-fidelity surface reconstruction by integrating Signed Distance Function (SDF), named SVRecon. Unlike 3D Gaussians, sparse voxels are spatially…

Besides standard cameras, autonomous vehicles typically include multiple additional sensors, such as lidars and radars, which help acquire richer information for perceiving the content of the driving scene. While several recent works focus…

Range-View(RV)-based 3D point cloud segmentation is widely adopted due to its compact data form. However, RV-based methods fall short in providing robust segmentation for the occluded points and suffer from distortion of projected RGB…

Detection and tracking of dynamic objects is a key feature for autonomous behavior in a continuously changing environment. With the increasing popularity and capability of micro aerial vehicles (MAVs) efficient algorithms have to be…

Aiming at highly accurate object detection for connected and automated vehicles (CAVs), this paper presents a Deep Neural Network based 3D object detection model that leverages a three-stage feature extractor by developing a novel…

Photo-realistic free-viewpoint rendering of real-world scenes using classical computer graphics techniques is challenging, because it requires the difficult step of capturing detailed appearance and geometry models. Recent studies have…

Current Vehicle-to-Everything (V2X) systems have significantly enhanced 3D object detection using LiDAR and camera data. However, these methods suffer from performance degradation in adverse weather conditions. The weather-robust 4D radar…

In this paper, we introduce Vox-Fusion++, a multi-maps-based robust dense tracking and mapping system that seamlessly fuses neural implicit representations with traditional volumetric fusion techniques. Building upon the concept of implicit…

Point cloud sequences are commonly used to accurately detect 3D objects in applications such as autonomous driving. Current top-performing multi-frame detectors mostly follow a Detect-and-Fuse framework, which extracts features from each…