相关论文: UniTR: A Unified and Efficient Multi-Modal Transfo…

In this work, we present a unified framework for multi-modality 3D object detection, named UVTR. The proposed method aims to unify multi-modality representations in the voxel space for accurate and robust single- or cross-modality 3D…

In the field of 3D object detection for autonomous driving, the sensor portfolio including multi-modality and single-modality is diverse and complex. Since the multi-modal methods have system complexity while the accuracy of single-modal…

Sensor fusion is an essential topic in many perception systems, such as autonomous driving and robotics. Existing multi-modal 3D detection models usually involve customized designs depending on the sensor combinations or setups. In this…

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…

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…

Multi-sensor modal fusion has demonstrated strong advantages in 3D object detection tasks. However, existing methods that fuse multi-modal features require transforming features into the bird's eye view space and may lose certain…

By sharing intermediate features, collaborative perception extends each agent's sensing beyond standalone limits, but real-world feature modality heterogeneity remains a key barrier to effective fusion. Most existing methods, including…

Place recognition is a critical component of autonomous vehicles and robotics, enabling global localization in GPS-denied environments. Recent advances have spurred significant interest in multimodal place recognition (MPR), which leverages…

Multi-sensor fusion is crucial for accurate 3D object detection in autonomous driving, with cameras and LiDAR being the most commonly used sensors. However, existing methods perform sensor fusion in a single view by projecting features from…

The past few years have witnessed the rapid development of vision-centric 3D perception in autonomous driving. Although the 3D perception models share many structural and conceptual similarities, there still exist gaps in their feature…

Recently, many multi-modal trackers prioritize RGB as the dominant modality, treating other modalities as auxiliary, and fine-tuning separately various multi-modal tasks. This imbalance in modality dependence limits the ability of methods…

Accurate and robust multimodal multi-task perception is crucial for modern autonomous driving systems. However, current multimodal perception research follows independent paradigms designed for specific perception tasks, leading to a lack…

The detection head constitutes a pivotal component within object detectors, tasked with executing both classification and localization functions. Regrettably, the commonly used parallel head often lacks omni perceptual capabilities, such as…

We present UniTrack, a plug-and-play graph-theoretic loss function designed to significantly enhance multi-object tracking (MOT) performance by directly optimizing tracking-specific objectives through unified differentiable learning. Unlike…

Multi-agent collaborative perception has emerged as a widely recognized technology in the field of autonomous driving in recent years. However, current collaborative perception predominantly relies on LiDAR point clouds, with significantly…

In the landscape of autonomous driving, Bird's-Eye-View (BEV) representation has recently garnered substantial academic attention, serving as a transformative framework for the fusion of multi-modal sensor inputs. This BEV paradigm…

We present WidthFormer, a novel transformer-based module to compute Bird's-Eye-View (BEV) representations from multi-view cameras for real-time autonomous-driving applications. WidthFormer is computationally efficient, robust and does not…

In this paper, we present BEVerse, a unified framework for 3D perception and prediction based on multi-camera systems. Unlike existing studies focusing on the improvement of single-task approaches, BEVerse features in producing…

Multimodal learning aims to build models that can process and relate information from multiple modalities. Despite years of development in this field, it still remains challenging to design a unified network for processing various…

Unmanned aerial vehicle (UAV) detection and aerial object recognition are critical for modern surveillance and security, prompting a need for robust systems that overcome limitations of single-modality approaches. This research addresses…