相关论文: Fusion is Not Enough: Single Modal Attacks on Fusi…

Multi-modal systems enhance performance in autonomous driving but face inefficiencies due to indiscriminate processing within each modality. Additionally, the independent feature learning of each modality lacks interaction, which results in…

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…

Reliable 3D object detection is fundamental to autonomous driving, and multimodal fusion algorithms using cameras and LiDAR remain a persistent challenge. Cameras provide dense visual cues but ill posed depth; LiDAR provides a precise 3D…

Accurate detection of obstacles in 3D is an essential task for autonomous driving and intelligent transportation. In this work, we propose a general multimodal fusion framework FusionPainting to fuse the 2D RGB image and 3D point clouds at…

Many LiDAR-based methods for detecting large objects, single-class object detection, or under easy situations were claimed to perform quite well. However, their performances of detecting small objects or under hard situations did not…

Multimodal medical image fusion plays an instrumental role in several areas of medical image processing, particularly in disease recognition and tumor detection. Traditional fusion methods tend to process each modality independently before…

For high-level Autonomous Vehicles (AV), localization is highly security and safety critical. One direct threat to it is GPS spoofing, but fortunately, AV systems today predominantly use Multi-Sensor Fusion (MSF) algorithms that are…

To reduce the amount of transmitted data, feature map based fusion is recently proposed as a practical solution to cooperative 3D object detection by autonomous vehicles. The precision of object detection, however, may require significant…

The safety and security of public spaces is of vital importance, driving the need for sophisticated surveillance systems capable of accurately detecting weapons, which are often hampered by issues like partial occlusion, varying lighting,…

Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. To further advance the practical application of service robots in complex dynamic…

High-level Autonomous Driving Systems (ADSs), such as Google Waymo and Baidu Apollo, typically rely on multi-sensor fusion (MSF) based approaches to perceive their surroundings. This strategy increases perception robustness by combining the…

Autonomous driving demands accurate perception and safe decision-making. To achieve this, automated vehicles are now equipped with multiple sensors (e.g., camera, Lidar, etc.), enabling them to exploit complementary environmental context by…

Object detection in Remote Sensing Images (RSI) is a critical task for numerous applications in Earth Observation (EO). Differing from object detection in natural images, object detection in remote sensing images faces challenges of…

Multimodal fusion frameworks for Human Action Recognition (HAR) using depth and inertial sensor data have been proposed over the years. In most of the existing works, fusion is performed at a single level (feature level or decision level),…

Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…

A significant challenge in object detection is accurate identification of an object's position in image space, whereas one algorithm with one set of parameters is usually not enough, and the fusion of multiple algorithms and/or parameters…

To enable safe and reliable decision-making, autonomous vehicles (AVs) feed sensor data to perception algorithms to understand the environment. Sensor fusion with multi-frame tracking is becoming increasingly popular for detecting 3D…

In autonomous driving, there has been an explosion in the use of deep neural networks for perception, prediction and planning tasks. As autonomous vehicles (AVs) move closer to production, multi-modal sensor inputs and heterogeneous vehicle…

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,…

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…