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

LiDAR sensors play a crucial role in various applications, especially in autonomous driving. Current research primarily focuses on optimizing perceptual models with point cloud data as input, while the exploration of deeper cognitive…

Vision-centric Bird's Eye View (BEV) perception holds considerable promise for autonomous driving. Recent studies have prioritized efficiency or accuracy enhancements, yet the issue of domain shift has been overlooked, leading to…

LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…

The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…

Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive tasks. However,…

Accurate 3D bird's-eye view (BEV) object detection is essential for autonomous driving, and depends strongly on effective multimodal representations from complementary sensors such as cameras and LiDAR. Multimodal masked autoencoders have…

Multi-modal sensor fusion in Bird's Eye View (BEV) representation has become the leading approach for 3D object detection. However, existing methods often rely on depth estimators or transformer encoders to transform image features into BEV…

LiDAR semantic segmentation models are typically trained from random initialization as universal pre-training is hindered by the lack of large, diverse datasets. Moreover, most point cloud segmentation architectures incorporate custom…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

3D object detection from multiple image views is a fundamental and challenging task for visual scene understanding. Owing to its low cost and high efficiency, multi-view 3D object detection has demonstrated promising application prospects.…

This paper aims at high-accuracy 3D object detection in autonomous driving scenario. We propose Multi-View 3D networks (MV3D), a sensory-fusion framework that takes both LIDAR point cloud and RGB images as input and predicts oriented 3D…

Perception technologies in Autonomous Driving are experiencing their golden age due to the advances in Deep Learning. Yet, most of these systems rely on the semantically rich information of RGB images. Deep Learning solutions applied to the…

In this paper, we present LaserNet, a computationally efficient method for 3D object detection from LiDAR data for autonomous driving. The efficiency results from processing LiDAR data in the native range view of the sensor, where the input…

The goal of this paper is to classify objects mapped by LiDAR sensor into different classes such as vehicles, pedestrians and bikers. Utilizing a LiDAR-based object detector and Neural Networks-based classifier, a novel real-time object…

Convolutional Neural Networks (CNN) are successfully used for various visual perception tasks including bounding box object detection, semantic segmentation, optical flow, depth estimation and visual SLAM. Generally these tasks are…

Three-dimensional object detection is one of the key tasks in autonomous driving. To reduce costs in practice, low-cost multi-view cameras for 3D object detection are proposed to replace the expansive LiDAR sensors. However, relying solely…

Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…

LiDAR-based 3D object detection and panoptic segmentation are two crucial tasks in the perception systems of autonomous vehicles and robots. In this paper, we propose All-in-One Perception Network (AOP-Net), a LiDAR-based multi-task…

Accurately detecting lane lines in 3D space is crucial for autonomous driving. Existing methods usually first transform image-view features into bird-eye-view (BEV) by aid of inverse perspective mapping (IPM), and then detect lane lines…

The 3D visual perception for vehicles with the surround-view fisheye camera system is a critical and challenging task for low-cost urban autonomous driving. While existing monocular 3D object detection methods perform not well enough on the…