相关论文: UniBEV: Multi-modal 3D Object Detection with Unifo…

Leveraging multi-modal fusion, especially between camera and LiDAR, has become essential for building accurate and robust 3D object detection systems for autonomous vehicles. Until recently, point decorating approaches, in which point…

Accurately perceiving instances and predicting their future motion are key tasks for autonomous vehicles, enabling them to navigate safely in complex urban traffic. While bird's-eye view (BEV) representations are commonplace in perception…

We propose Unified Visual-Semantic Embeddings (UniVSE) for learning a joint space of visual and textual concepts. The space unifies the concepts at different levels, including objects, attributes, relations, and full scenes. A contrastive…

Multi-view 3D detection based on BEV (bird-eye-view) has recently achieved significant improvements. However, the huge memory consumption of state-of-the-art models makes it hard to deploy them on vehicles, and the non-trivial latency will…

Depth estimation is a cornerstone of perception in autonomous driving and robotic systems. The considerable cost and relatively sparse data acquisition of LiDAR systems have led to the exploration of cost-effective alternatives, notably,…

To achieve accurate and low-cost 3D object detection, existing methods propose to benefit camera-based multi-view detectors with spatial cues provided by the LiDAR modality, e.g., dense depth supervision and bird-eye-view (BEV) feature…

Traditional systems typically require different models for processing different modalities, such as one model for RGB images and another for depth images. Recent research has demonstrated that a single model for one modality can be adapted…

We consider the challenging problem of tracking multiple objects using a distributed network of sensors. In the practical setting of nodes with limited field of views (FoVs), computing power and communication resources, we develop a novel…

Localization in GNSS-denied and GNSS-degraded environments is a challenge for the safe widespread deployment of autonomous vehicles. Such GNSS-challenged environments require alternative methods for robust localization. In this work, we…

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…

Robust object detection for Unmanned Surface Vehicles (USVs) in complex water environments is essential for reliable navigation and operation. Specifically, water surface object detection faces challenges from blurred edges and diverse…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

While most recent autonomous driving system focuses on developing perception methods on ego-vehicle sensors, people tend to overlook an alternative approach to leverage intelligent roadside cameras to extend the perception ability beyond…

To achieve high-levels of autonomy, modern robots require the ability to detect and recover from anomalies and failures with minimal human supervision. Multi-modal sensor signals could provide more information for such anomaly detection…

In the field of autonomous driving, 3D object detection is a very important perception module. Although the current SOTA algorithm combines Camera and Lidar sensors, limited by the high price of Lidar, the current mainstream landing schemes…

Integrating LiDAR and camera inputs into a unified Bird's-Eye-View (BEV) representation is crucial for enhancing 3D perception capabilities of autonomous vehicles. However, existing methods suffer from spatial misalignment between LiDAR and…

BEV perception is of great importance in the field of autonomous driving, serving as the cornerstone of planning, controlling, and motion prediction. The quality of the BEV feature highly affects the performance of BEV perception. However,…

Multi-modal 3D object detection models for automated driving have demonstrated exceptional performance on computer vision benchmarks like nuScenes. However, their reliance on densely sampled LiDAR point clouds and meticulously calibrated…

As medical diagnoses increasingly leverage multimodal data, machine learning models are expected to effectively fuse heterogeneous information while remaining robust to missing modalities. In this work, we propose a novel multimodal…

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…