相关论文: CrossFusion: Interleaving Cross-modal Complementat…

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…

Lidars and cameras play essential roles in autonomous driving, offering complementary information for 3D detection. The state-of-the-art fusion methods integrate them at the feature level, but they mostly rely on the learned soft…

Safety and reliability are crucial for the public acceptance of autonomous driving. To ensure accurate and reliable environmental perception, intelligent vehicles must exhibit accuracy and robustness in various environments. Millimeter-wave…

Accurately localizing 3D objects like pedestrians, cyclists, and other vehicles is essential in Autonomous Driving. To ensure high detection performance, Autonomous Vehicles complement RGB cameras with LiDAR sensors, but effectively…

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…

Multispectral image pairs can provide the combined information, making object detection applications more reliable and robust in the open world. To fully exploit the different modalities, we present a simple yet effective cross-modality…

Fully autonomous driving systems require fast detection and recognition of sensitive objects in the environment. In this context, intelligent vehicles should share their sensor data with computing platforms and/or other vehicles, to detect…

LiDAR-camera fusion enhances 3D panoptic segmentation by leveraging camera images to complement sparse LiDAR scans, but it also introduces a critical failure mode. Under adverse conditions, degradation or failure of the camera sensor can…

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…

Lidar point cloud distortion from moving object is an important problem in autonomous driving, and recently becomes even more demanding with the emerging of newer lidars, which feature back-and-forth scanning patterns. Accurately estimating…

Multi-modal 3D object detection has received growing attention as the information from different sensors like LiDAR and cameras are complementary. Most fusion methods for 3D detection rely on an accurate alignment and calibration between 3D…

In automotive sensor fusion systems, smart sensors and Vehicle-to-Everything (V2X) modules are commonly utilized. Sensor data from these systems are typically available only as processed object lists rather than raw sensor data from…

In this paper, we present a parallel architecture for a sensor fusion detection system that combines a camera and 1D light detection and ranging (lidar) sensor for object detection. The system contains two object detection methods, one…

Effective feature fusion of multispectral images plays a crucial role in multi-spectral object detection. Previous studies have demonstrated the effectiveness of feature fusion using convolutional neural networks, but these methods are…

In recent years, the fusion of camera data with LiDAR measurements has emerged as a powerful approach to enhance spatial understanding. This study introduces a novel, hardware-agnostic methodology that generates colourised point clouds from…

To track the 3D locations and trajectories of the other traffic participants at any given time, modern autonomous vehicles are equipped with multiple cameras that cover the vehicle's full surroundings. Yet, camera-based 3D object tracking…

Accurate camera-LiDAR fusion relies on precise extrinsic calibration, which fundamentally depends on establishing reliable cross-modal correspondences under potentially large misalignments. Existing learning-based methods typically project…

Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…

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…

Multimodal 3D object detection based on deep neural networks has indeed made significant progress. However, it still faces challenges due to the misalignment of scale and spatial information between features extracted from 2D images and…