相关论文: Knowledge Distillation from 3D to Bird's-Eye-View …

Accurate LiDAR-camera calibration is fundamental to fusing multi-modal perception in autonomous driving and robotic systems. Traditional calibration methods require extensive data collection in controlled environments and cannot compensate…

Knowledge distillation has attracted a great deal of interest recently to compress pre-trained language models. However, existing knowledge distillation methods suffer from two limitations. First, the student model simply imitates the…

Place recognition is a key module for long-term SLAM systems. Current LiDAR-based place recognition methods usually use representations of point clouds such as unordered points or range images. These methods achieve high recall rates of…

Multi-sensor fusion is essential for an accurate and reliable autonomous driving system. Recent approaches are based on point-level fusion: augmenting the LiDAR point cloud with camera features. However, the camera-to-LiDAR projection…

Although multiview fusion has demonstrated potential in LiDAR segmentation, its dependence on computationally intensive point-based interactions, arising from the lack of fixed correspondences between views such as range view and Bird's-Eye…

State-of-the-art methods for driving-scene LiDAR-based perception (including point cloud semantic segmentation, panoptic segmentation and 3D detection, \etc) often project the point clouds to 2D space and then process them via 2D…

Radar-camera fusion methods have emerged as a cost-effective approach for 3D object detection but still lag behind LiDAR-based methods in performance. Recent works have focused on employing temporal fusion and Knowledge Distillation (KD)…

The Bird-Eye-View (BEV) is one of the most widely-used scene representations for visual perception in Autonomous Vehicles (AVs) due to its well suited compatibility to downstream tasks. For the enhanced safety of AVs, modeling perception…

Recent deep learning models achieve impressive results on 3D scene analysis tasks by operating directly on unstructured point clouds. A lot of progress was made in the field of object classification and semantic segmentation. However, the…

We present TinyBEV, a unified, camera only Bird's Eye View (BEV) framework that distills the full-stack capabilities of a large planning-oriented teacher (UniAD [19]) into a compact, real-time student model. Unlike prior efficient camera…

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,…

Building 3D perception systems for autonomous vehicles that do not rely on high-density LiDAR is a critical research problem because of the expense of LiDAR systems compared to cameras and other sensors. Recent research has developed a…

There are various optimization techniques in the realm of 3D, including point cloud-based approaches that use mesh, texture, and voxels which optimize how you store, and how do calculate in 3D. These techniques employ methods such as…

We aim at advancing open-vocabulary object detection, which detects objects described by arbitrary text inputs. The fundamental challenge is the availability of training data. It is costly to further scale up the number of classes contained…

3D pedestrian detection is a challenging task in automated driving because pedestrians are relatively small, frequently occluded and easily confused with narrow vertical objects. LiDAR and camera are two commonly used sensor modalities for…

Understanding driving situations regardless the conditions of the traffic scene is a cornerstone on the path towards autonomous vehicles; however, despite common sensor setups already include complementary devices such as LiDAR or radar,…

State-of-the-art methods for large-scale driving-scene LiDAR segmentation often project the point clouds to 2D space and then process them via 2D convolution. Although this corporation shows the competitiveness in the point cloud, it…

High-performance Radar-Camera 3D object detection can be achieved by leveraging knowledge distillation without using LiDAR at inference time. However, existing distillation methods typically transfer modality-specific features directly to…

While fine-tuning based methods for few-shot object detection have achieved remarkable progress, a crucial challenge that has not been addressed well is the potential class-specific overfitting on base classes and sample-specific…

The inherent noisy and sparse characteristics of radar data pose challenges in finding effective representations for 3D object detection. In this paper, we propose RadarDistill, a novel knowledge distillation (KD) method, which can improve…