相关论文: DistillBEV: Boosting Multi-Camera 3D Object Detect…

Bird's eye view (BEV) semantic segmentation plays a crucial role in spatial sensing for autonomous driving. Although recent literature has made significant progress on BEV map understanding, they are all based on single-agent camera-based…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

Bird's-eye-view (BEV) semantic segmentation is becoming crucial in autonomous driving systems. It realizes ego-vehicle surrounding environment perception by projecting 2D multi-view images into 3D world space. Recently, BEV segmentation has…

Beam training and prediction in real-world millimeter-wave (mmWave) communications systems are challenging due to rapidly time-varying channels and strong interference from surrounding objects. In this context, widely available sensors,…

The utilization of multi-modal sensor data in visual place recognition (VPR) has demonstrated enhanced performance compared to single-modal counterparts. Nonetheless, integrating additional sensors comes with elevated costs and may not be…

Comprehending the environment and accurately detecting objects in 3D space are essential for advancing autonomous vehicle technologies. Integrating Camera and LIDAR data has emerged as an effective approach for achieving high accuracy in 3D…

3D perception is a critical problem in autonomous driving. Recently, the Bird-Eye-View (BEV) approach has attracted extensive attention, due to low-cost deployment and desirable vision detection capacity. However, the existing models ignore…

In this paper, we propose a cross-modal distillation method named StereoDistill to narrow the gap between the stereo and LiDAR-based approaches via distilling the stereo detectors from the superior LiDAR model at the response level, which…

This article addresses the problem of distilling knowledge from a large teacher model to a slim student network for LiDAR semantic segmentation. Directly employing previous distillation approaches yields inferior results due to the…

Knowledge distillation constitutes a simple yet effective way to improve the performance of a compact student network by exploiting the knowledge of a more powerful teacher. Nevertheless, the knowledge distillation literature remains…

The inherent noisy and sparse characteristics of radar data pose challenges in finding effective representations for 3D object detection. In this paper, we propose RadarDistill, a novel knowledge distillation (KD) method, which can improve…

Knowledge distillation learns a lightweight student model that mimics a cumbersome teacher. Existing methods regard the knowledge as the feature of each instance or their relations, which is the instance-level knowledge only from the…

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…

Camera and LiDAR serve as informative sensors for accurate and robust autonomous driving systems. However, these sensors often exhibit heterogeneous natures, resulting in distributional modality gaps that present significant challenges for…

Attributes of sound inherent to objects can provide valuable cues to learn rich representations for object detection and tracking. Furthermore, the co-occurrence of audiovisual events in videos can be exploited to localize objects over the…

3D object detection is an important task that has been widely applied in autonomous driving. To perform this task, a new trend is to fuse multi-modal inputs, i.e., LiDAR and camera. Under such a trend, recent methods fuse these two…

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…

The 3D visual perception for vehicles with the surround-view fisheye camera system is a critical and challenging task for low-cost urban autonomous driving. While existing monocular 3D object detection methods perform not well enough on the…

Cooperative perception allows connected vehicles and roadside infrastructure to share sensor observations, creating a fused scene representation beyond the capability of any single platform. However, most cooperative 3D object detectors use…

Autonomous driving requires an accurate representation of the environment. A strategy toward high accuracy is to fuse data from several sensors. Learned Bird's-Eye View (BEV) encoders can achieve this by mapping data from individual sensors…