相关论文: LiDAR-BEVMTN: Real-Time LiDAR Bird's-Eye View Mult…

Ensuring traffic safety and preventing accidents is a critical goal in daily driving, where the advancement of computer vision technologies can be leveraged to achieve this goal. In this paper, we present a multi-view, multi-scale framework…

Recent vision-only perception models for autonomous driving achieved promising results by encoding multi-view image features into Bird's-Eye-View (BEV) space. A critical step and the main bottleneck of these methods is transforming image…

LiDAR perception is fundamental to robotics, enabling machines to understand their environment in 3D. A crucial task for LiDAR-based scene understanding and navigation is ground segmentation. However, existing methods are either handcrafted…

LiDAR and camera are two critical sensors for multi-modal 3D semantic segmentation and are supposed to be fused efficiently and robustly to promise safety in various real-world scenarios. However, existing multi-modal methods face two key…

Recent research has begun exploring novel view synthesis (NVS) for LiDAR point clouds, aiming to generate realistic LiDAR scans from unseen viewpoints. However, most existing approaches do not reconstruct semantic labels, which are crucial…

In contrast to extensive studies on general vision, pre-training for scalable visual autonomous driving remains seldom explored. Visual autonomous driving applications require features encompassing semantics, 3D geometry, and temporal…

In this paper, a multi-modal 360$^{\circ}$ framework for 3D object detection and tracking for autonomous vehicles is presented. The process is divided into four main stages. First, images are fed into a CNN network to obtain instance…

Accurate and robust LiDAR 3D object detection is essential for comprehensive scene understanding in autonomous driving. Despite its importance, LiDAR detection performance is limited by inherent constraints of point cloud data, particularly…

Traffic scene recognition, which requires various visual classification tasks, is a critical ingredient in autonomous vehicles. However, most existing approaches treat each relevant task independently from one another, never considering the…

In this work, we propose \textit{MVFuseNet}, a novel end-to-end method for joint object detection and motion forecasting from a temporal sequence of LiDAR data. Most existing methods operate in a single view by projecting data in either…

Sensor fusion is crucial for an accurate and robust perception system on autonomous vehicles. Most existing datasets and perception solutions focus on fusing cameras and LiDAR. However, the collaboration between camera and radar is…

3D Gaussian Splatting (3DGS) has emerged as a powerful technique for real-time LiDAR and camera synthesis in autonomous driving simulation. However, simulating LiDAR with 3DGS remains challenging for extrapolated views beyond the training…

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…

In this work, a deep learning approach has been developed to carry out road detection by fusing LIDAR point clouds and camera images. An unstructured and sparse point cloud is first projected onto the camera image plane and then upsampled…

Accurate environment perception is essential for automated driving. When using monocular cameras, the distance estimation of elements in the environment poses a major challenge. Distances can be more easily estimated when the camera…

Unmanned aerial vehicles (UAVs) equipped with multiple complementary sensors have tremendous potential for fast autonomous or remote-controlled semantic scene analysis, e.g., for disaster examination. In this work, we propose a UAV system…

3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context…

Reliable and accurate lane detection has been a long-standing problem in the field of autonomous driving. In recent years, many approaches have been developed that use images (or videos) as input and reason in image space. In this paper we…

Autonomous robotic systems and self driving cars rely on accurate perception of their surroundings as the safety of the passengers and pedestrians is the top priority. Semantic segmentation is one the essential components of environmental…

Semantic map construction under bird's-eye view (BEV) plays an essential role in autonomous driving. In contrast to camera image, LiDAR provides the accurate 3D observations to project the captured 3D features onto BEV space inherently.…