相关论文: FGFusion: Fine-Grained Lidar-Camera Fusion for 3D …

To address the issues of the existing frustum-based methods' underutilization of image information in road three-dimensional object detection as well as the lack of research on agricultural scenes, we constructed an object detection dataset…

The combination of LiDAR and camera modalities is proven to be necessary and typical for 3D object detection according to recent studies. Existing fusion strategies tend to overly rely on the LiDAR modal in essence, which exploits the…

Autonomous vehicles may make wrong decisions due to inaccurate detection and recognition. Therefore, an intelligent vehicle can combine its own data with that of other vehicles to enhance perceptive ability, and thus improve detection…

Depth-guided multimodal fusion combines depth information from visible and infrared images, significantly enhancing the performance of 3D reconstruction and robotics applications. Existing thermal-visible image fusion mainly focuses on…

LiDAR-based 3D object detection is essential for autonomous driving systems. However, LiDAR point clouds may appear to have sparsity, uneven distribution, and incomplete structures, significantly limiting the detection performance. In road…

Multimodal sensor fusion is an essential capability for autonomous robots, enabling object detection and decision-making in the presence of failing or uncertain inputs. While recent fusion methods excel in normal environmental conditions,…

2D RGB images and 3D LIDAR point clouds provide complementary knowledge for the perception system of autonomous vehicles. Several 2D and 3D fusion methods have been explored for the LIDAR semantic segmentation task, but they suffer from…

Reliable perception is essential for autonomous driving systems to operate safely under diverse real-world traffic conditions. However, camera- and LiDAR-based perception systems suffer from performance degradation under adverse weather and…

LiDAR-based vision systems are integral for 3D object detection, which is crucial for autonomous navigation. However, they suffer from performance degradation in adverse weather conditions due to the quality deterioration of LiDAR point…

Recent years have witnessed huge successes in 3D object detection to recognize common objects for autonomous driving (e.g., vehicles and pedestrians). However, most methods rely heavily on a large amount of well-labeled training data. This…

Fusing data from LiDAR and camera is conceptually attractive because of their complementary properties. For instance, camera images are higher resolution and have colors, while LiDAR data provide more accurate range measurements and have a…

LiDAR-based 3D object detection is an important task for autonomous driving and current approaches suffer from sparse and partial point clouds of distant and occluded objects. In this paper, we propose a novel two-stage approach, namely…

In addition to low light, night images suffer degradation from light effects (e.g., glare, floodlight, etc). However, existing nighttime visibility enhancement methods generally focus on low-light regions, which neglects, or even amplifies…

Road detection is a critically important task for self-driving cars. By employing LiDAR data, recent works have significantly improved the accuracy of road detection. Relying on LiDAR sensors limits the wide application of those methods…

LiDAR-camera fusion methods have shown impressive performance in 3D object detection. Recent advanced multi-modal methods mainly perform global fusion, where image features and point cloud features are fused across the whole scene. Such…

Multi-modal systems enhance performance in autonomous driving but face inefficiencies due to indiscriminate processing within each modality. Additionally, the independent feature learning of each modality lacks interaction, which results in…

LiDAR and camera, as two different sensors, supply geometric (point clouds) and semantic (RGB images) information of 3D scenes. However, it is still challenging for existing methods to fuse data from the two cross sensors, making them…

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…

Recent advancements in perception for autonomous driving are driven by deep learning. In order to achieve robust and accurate scene understanding, autonomous vehicles are usually equipped with different sensors (e.g. cameras, LiDARs,…

In the recent literature, on the one hand, many 3D multi-object tracking (MOT) works have focused on tracking accuracy and neglected computation speed, commonly by designing rather complex cost functions and feature extractors. On the other…