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

Camera-based 3D object detection in BEV (Bird's Eye View) space has drawn great attention over the past few years. Dense detectors typically follow a two-stage pipeline by first constructing a dense BEV feature and then performing object…

While recent low-cost radar-camera approaches have shown promising results in multi-modal 3D object detection, both sensors face challenges from environmental and intrinsic disturbances. Poor lighting or adverse weather conditions degrade…

Camera-LiDAR fusion is widely used in autonomous driving to enable accurate 3D object detection. However, bird's-eye view (BEV) fusion detectors can degrade significantly under domain shift and sensor failures, limiting reliability in…

3D object detection in driving scenarios faces the challenge of complex road environments, which can lead to the loss or incompleteness of key features, thereby affecting perception performance. To address this issue, we propose an advanced…

Identifying moving objects is an essential capability for autonomous systems, as it provides critical information for pose estimation, navigation, collision avoidance, and static map construction. In this paper, we present MotionBEV, a fast…

Fusing the camera and LiDAR information has become a de-facto standard for 3D object detection tasks. Current methods rely on point clouds from the LiDAR sensor as queries to leverage the feature from the image space. However, people…

Multi-modal 3D object detection has received growing attention as the information from different sensors like LiDAR and cameras are complementary. Most fusion methods for 3D detection rely on an accurate alignment and calibration between 3D…

Multimodal visual object tracking can be divided into to several kinds of tasks (e.g. RGB and RGB+X tracking), based on the input modality. Existing methods often train separate models for each modality or rely on pretrained models to adapt…

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,…

Multi-View Multi-Object Tracking (MVMOT) is essential for applications such as surveillance, autonomous driving, and sports analytics. However, maintaining consistent object identities across multiple cameras remains challenging due to…

Accurate multi-view 3D object detection is essential for applications such as autonomous driving. Researchers have consistently aimed to leverage LiDAR's precise spatial information to enhance camera-based detectors through methods like…

Unsupervised 3D object detection methods have emerged to leverage vast amounts of data without requiring manual labels for training. Recent approaches rely on dynamic objects for learning to detect mobile objects but penalize the detections…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

With the growing success of multi-modal learning, research on the robustness of multi-modal models, especially when facing situations with missing modalities, is receiving increased attention. Nevertheless, previous studies in this domain…

Safe autonomous agents and mobile robots need fast real time 3D perception, especially for vulnerable road users (VRUs) such as pedestrians. We introduce a new bird's eye view (BEV) encoding, which maps the full 3D LiDAR point cloud into a…

Accurate 3D object detection in autonomous driving relies on Bird's Eye View (BEV) perception and effective temporal fusion. However, existing fusion strategies based on convolutional layers or deformable self-attention struggle to model…

Vision-based bird's-eye-view (BEV) 3D object detection has advanced significantly in autonomous driving by offering cost-effectiveness and rich contextual information. However, existing methods often construct BEV representations by…

Recently, fusing the LiDAR point cloud and camera image to improve the performance and robustness of 3D object detection has received more and more attention, as these two modalities naturally possess strong complementarity. In this paper,…

Unmanned aerial vehicle (UAV) object detection plays a vital role in applications such as environmental monitoring and urban security. To improve robustness, recent studies have explored multimodal detection by fusing visible (RGB) and…

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…