相关论文: LEF: Late-to-Early Temporal Fusion for LiDAR 3D Ob…

In LiDAR-based 3D detection, history point clouds contain rich temporal information helpful for future prediction. In the same way, history detections should contribute to future detections. In this paper, we propose a detection enhancement…

3D object detection is a core component of automated driving systems. State-of-the-art methods fuse RGB imagery and LiDAR point cloud data frame-by-frame for 3D bounding box regression. However, frame-by-frame 3D object detection suffers…

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…

State-of-the-art LiDAR-camera 3D object detectors usually focus on feature fusion. However, they neglect the factor of depth while designing the fusion strategy. In this work, we are the first to observe that different modalities play…

3D object detection from LiDAR point cloud is of critical importance for autonomous driving and robotics. While sequential point cloud has the potential to enhance 3D perception through temporal information, utilizing these temporal…

Camera and radar sensors have significant advantages in cost, reliability, and maintenance compared to LiDAR. Existing fusion methods often fuse the outputs of single modalities at the result-level, called the late fusion strategy. This can…

Accurate and robust LiDAR 3D object detection is essential for comprehensive scene understanding in autonomous driving. Despite its importance, LiDAR detection performance is limited by inherent constraints of point cloud data, particularly…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

Detecting objects in 3D LiDAR data is a core technology for autonomous driving and other robotics applications. Although LiDAR data is acquired over time, most of the 3D object detection algorithms propose object bounding boxes…

We propose DeepFusion, a modular multi-modal architecture to fuse lidars, cameras and radars in different combinations for 3D object detection. Specialized feature extractors take advantage of each modality and can be exchanged easily,…

3D object detection based on LiDAR-camera fusion is becoming an emerging research theme for autonomous driving. However, it has been surprisingly difficult to effectively fuse both modalities without information loss and interference. To…

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…

Currently prevalent multimodal 3D detection methods are built upon LiDAR-based detectors that usually use dense Bird's-Eye-View (BEV) feature maps. However, the cost of such BEV feature maps is quadratic to the detection range, making it…

Existing LiDAR-Camera fusion methods have achieved strong results in 3D object detection. To address the sparsity of point clouds, previous approaches typically construct spatial pseudo point clouds via depth completion as auxiliary input…

When localizing and detecting 3D objects for autonomous driving scenes, obtaining information from multiple sensor (e.g. camera, LIDAR) typically increases the robustness of 3D detectors. However, the efficient and effective fusion of…

Recent work on 3D object detection advocates point cloud voxelization in birds-eye view, where objects preserve their physical dimensions and are naturally separable. When represented in this view, however, point clouds are sparse and have…

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…

Accurately localizing 3D objects like pedestrians, cyclists, and other vehicles is essential in Autonomous Driving. To ensure high detection performance, Autonomous Vehicles complement RGB cameras with LiDAR sensors, but effectively…

Three-dimensional Object Detection from multi-view cameras and LiDAR is a crucial component for autonomous driving and smart transportation. However, in the process of basic feature extraction, perspective transformation, and feature…

We propose LiRaFusion to tackle LiDAR-radar fusion for 3D object detection to fill the performance gap of existing LiDAR-radar detectors. To improve the feature extraction capabilities from these two modalities, we design an early fusion…