相关论文: MMF-Track: Multi-modal Multi-level Fusion for 3D S…

As one of the automotive sensors that have emerged in recent years, 4D millimeter-wave radar has a higher resolution than conventional 3D radar and provides precise elevation measurements. But its point clouds are still sparse and noisy,…

3D single object tracking is a key issue for robotics. In this paper, we propose a transformer module called Point-Track-Transformer (PTT) for point cloud-based 3D single object tracking. PTT module contains three blocks for feature…

Multi-modal image fusion aims to integrate complementary information from multiple source images to produce high-quality fused images with enriched content. Although existing approaches based on state space model have achieved satisfied…

The matching of 3D shapes has been extensively studied for shapes represented as surface meshes, as well as for shapes represented as point clouds. While point clouds are a common representation of raw real-world 3D data (e.g. from laser…

Semantic segmentation of 3D point cloud data is essential for enhanced high-level perception in autonomous platforms. Furthermore, given the increasing deployment of LiDAR sensors onboard of cars and drones, a special emphasis is also…

Camera and LiDAR sensor modalities provide complementary appearance and geometric information useful for detecting 3D objects for autonomous vehicle applications. However, current end-to-end fusion methods are challenging to train and…

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…

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…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

We address the problem of multi-modal object tracking in video and explore various options of fusing the complementary information conveyed by the visible (RGB) and thermal infrared (TIR) modalities including pixel-level, feature-level and…

As a critical task in autonomous driving perception systems, 3D object detection is used to identify and track key objects, such as vehicles and pedestrians. However, detecting distant, small, or occluded objects (hard instances) remains a…

3D single object tracking is a key task in 3D computer vision. However, the sparsity of point clouds makes it difficult to compute the similarity and locate the object, posing big challenges to the 3D tracker. Previous works tried to solve…

In this paper, we propose a new joint object detection and tracking (JoDT) framework for 3D object detection and tracking based on camera and LiDAR sensors. The proposed method, referred to as 3D DetecTrack, enables the detector and tracker…

Developing robust multi-modal feature representations is crucial for enhancing object tracking performance. In pursuit of this objective, a novel X Modality Assisting Network (X-Net) is introduced, which explores the impact of the fusion…

3D single object tracking remains a challenging problem due to the sparsity and incompleteness of the point clouds. Existing algorithms attempt to address the challenges in two strategies. The first strategy is to learn dense geometric…

In this paper we study the task of a single-view image-guided point cloud completion. Existing methods have got promising results by fusing the information of image into point cloud explicitly or implicitly. However, given that the image…

Most existing RGB-T tracking networks extract modality features in a separate manner, which lacks interaction and mutual guidance between modalities. This limits the network's ability to adapt to the diverse dual-modality appearances of…

While LiDAR sensors have been successfully applied to 3D object detection, the affordability of radar and camera sensors has led to a growing interest in fusing radars and cameras for 3D object detection. However, previous radar-camera…

Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception. A key difficulty lies in the modality gap between unstructured point clouds and…

Multi-modal object tracking integrates auxiliary modalities such as depth, thermal infrared, event flow, and language to provide additional information beyond RGB images, showing great potential in improving tracking stabilization in…