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

Heterogeneous air-ground robot teams combine complementary sensing modalities, mobility characteristics, and spatial viewpoints that can significantly enhance perception in complex outdoor environments. However, progress in multi-robot…

We present a novel architecture for 3D object detection, M3DeTR, which combines different point cloud representations (raw, voxels, bird-eye view) with different feature scales based on multi-scale feature pyramids. M3DeTR is the first…

In autonomous driving, multi-modal perception tasks like 3D object detection typically rely on well-synchronized sensors, both at training and inference. However, despite the use of hardware- or software-based synchronization algorithms,…

In this paper, we propose a robust 3D detector, named Cross Modal Transformer (CMT), for end-to-end 3D multi-modal detection. Without explicit view transformation, CMT takes the image and point clouds tokens as inputs and directly outputs…

Autonomous driving sensors generate an enormous amount of data. In this paper, we explore learned multimodal compression for autonomous driving, specifically targeted at 3D object detection. We focus on camera and LiDAR modalities and…

3D structure modeling is essential across scales, enabling applications from fluid simulation and 3D reconstruction to protein folding and molecular docking. Yet, despite shared 3D spatial patterns, current approaches remain fragmented,…

Bird's-eye-view (BEV) grid is a common representation for the perception of road components, e.g., drivable area, in autonomous driving. Most existing approaches rely on cameras only to perform segmentation in BEV space, which is…

We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…

Recent advancements in sensor technology and deep learning have led to significant progress in 3D human body reconstruction. However, most existing approaches rely on data from a specific sensor, which can be unreliable due to the inherent…

Existing Transformer-based RGBT tracking methods either use cross-attention to fuse the two modalities, or use self-attention and cross-attention to model both modality-specific and modality-sharing information. However, the significant…

Intelligent transportation systems (ITS) localization is of significant importance as it provides fundamental position and orientation for autonomous operations like intelligent vehicles. Integrating diverse and complementary sensors such…

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance…

Gait recognition is an important biometric for human identification at a distance, particularly under low-resolution or unconstrained environments. Current works typically focus on either 2D representations (e.g., silhouettes and skeletons)…

Multi-modal tracking gains attention due to its ability to be more accurate and robust in complex scenarios compared to traditional RGB-based tracking. Its key lies in how to fuse multi-modal data and reduce the gap between modalities.…

Integrating LiDAR and Camera information into Bird's-Eye-View (BEV) has become an essential topic for 3D object detection in autonomous driving. Existing methods mostly adopt an independent dual-branch framework to generate LiDAR and camera…

Perceiving and reconstructing objects from images are critical for real-to-sim transfer tasks, which are widely used in the robotics community. Existing methods rely on multiple submodules such as detection, segmentation, shape…

Perception is essential for autonomous driving system. Recent approaches based on Bird's-eye-view (BEV) and deep learning have made significant progress. However, there exists challenging issues including lengthy development cycles, poor…

Multi-camera 3D object detection for autonomous driving is a challenging problem that has garnered notable attention from both academia and industry. An obstacle encountered in vision-based techniques involves the precise extraction of…

Unified multimodal transformers, which handle both generation and understanding tasks within a shared parameter space, have received increasing attention in recent research. Although various unified transformers have been proposed, training…

Although transformers have demonstrated remarkable capabilities across various domains, their quadratic attention mechanisms introduce significant computational overhead when processing long-sequence data. In this paper, we present a…