相关论文: Uncertainty-Encoded Multi-Modal Fusion for Robust …

Modern autonomous driving perception systems utilize complementary multi-modal sensors, such as LiDAR and cameras. Although sensor fusion architectures enhance performance in challenging environments, they still suffer significant…

The fusion of multiple sensor modalities, especially through deep learning architectures, has been an active area of study. However, an under-explored aspect of such work is whether the methods can be robust to degradations across their…

Multi-sensor object detection is an active research topic in automated driving, but the robustness of such detection models against missing sensor input (modality missing), e.g., due to a sudden sensor failure, is a critical problem which…

Multimodal sensor fusion has demonstrated remarkable performance improvements over unimodal approaches in 3D object detection for autonomous vehicles. Typically, existing methods transform multimodal data from independent sensors, such as…

An important paradigm in 3D object detection is the use of multiple modalities to enhance accuracy in both normal and challenging conditions, particularly for long-tail scenarios. To address this, recent studies have explored two directions…

In this work, we present an uncertainty-based method for sensor fusion with camera and radar data. The outputs of two neural networks, one processing camera and the other one radar data, are combined in an uncertainty aware manner. To this…

Infrared and visible image fusion aims to integrate comprehensive information from multiple sources to achieve superior performances on various practical tasks, such as detection, over that of a single modality. However, most existing…

Multimodal image fusion and object detection are crucial for autonomous driving. While current methods have advanced the fusion of texture details and semantic information, their complex training processes hinder broader applications.…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Autonomous driving necessitates advanced object detection techniques that integrate information from multiple modalities to overcome the limitations associated with single-modal approaches. The challenges of aligning diverse data in early…

Robust 3D object detection under adverse weather conditions is crucial for autonomous driving. However, most existing methods simply combine all weather samples for training while overlooking data distribution discrepancies across different…

Recent advancements in 3D object detection have benefited from multi-modal information from the multi-view cameras and LiDAR sensors. However, the inherent disparities between the modalities pose substantial challenges. We observe that…

This paper introduces the "Uncertainty-aware Mixture of Experts" (uMoE), a novel solution aimed at addressing aleatoric uncertainty within Neural Network (NN) based predictive models. While existing methodologies primarily concentrate on…

Masked Autoencoders (MAE) play a pivotal role in learning potent representations, delivering outstanding results across various 3D perception tasks essential for autonomous driving. In real-world driving scenarios, it's commonplace to…

Autonomous driving holds transformative potential but remains fundamentally constrained by the limited perception and isolated decision-making with standalone intelligence. While recent multi-agent approaches introduce cooperation, they…

Wear and tear detection in fleet and shared vehicle systems is a critical challenge, particularly in rental and car-sharing services, where minor damage, such as dents, scratches, and underbody impacts, often goes unnoticed or is detected…

The fusion of multimodal sensor streams, such as camera, lidar, and radar measurements, plays a critical role in object detection for autonomous vehicles, which base their decision making on these inputs. While existing methods exploit…

Recent advancements in multimodal large language models (MLLMs) have demonstrated considerable potential for comprehensive 3D scene understanding. However, existing approaches typically utilize only one or a limited subset of 3D modalities,…

4D millimeter-wave (MMW) radar, which provides both height information and dense point cloud data over 3D MMW radar, has become increasingly popular in 3D object detection. In recent years, radar-vision fusion models have demonstrated…

Uncertainty Quantification (UQ) is crucial for ensuring the reliability of machine learning models deployed in real-world autonomous systems. However, existing approaches typically quantify task-level output prediction uncertainty without…