相关论文: LeTFuser: Light-weight End-to-end Transformer-Base…

Fully autonomous driving systems require fast detection and recognition of sensitive objects in the environment. In this context, intelligent vehicles should share their sensor data with computing platforms and/or other vehicles, to detect…

Detecting objects reliably under extreme low-light conditions is an open problem in computer vision, with practical urgency in applications ranging from nighttime surveillance to search-and-rescue robotics. Conventional RGB cameras degrade…

Multimodal sensor fusion has demonstrated remarkable performance improvements over unimodal approaches in 3D object detection for autonomous vehicles. Typically, existing methods transform multimodal data from independent sensors, such as…

Current multi-modality driving frameworks normally fuse representation by utilizing attention between single-modality branches. However, the existing networks still suppress the driving performance as the Image and LiDAR branches are…

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…

Sensor fusion is crucial for an accurate and robust perception system on autonomous vehicles. Most existing datasets and perception solutions focus on fusing cameras and LiDAR. However, the collaboration between camera and radar is…

Image fusion is a technique to integrate information from multiple source images with complementary information to improve the richness of a single image. Due to insufficient task-specific training data and corresponding ground truth, most…

Autonomous driving systems require a comprehensive understanding of the environment, achieved by extracting visual features essential for perception, planning, and control. However, models trained solely on single-task objectives or generic…

The fusion of multimodal sensor streams, such as camera, lidar, and radar measurements, plays a critical role in object detection for autonomous vehicles, which base their decision making on these inputs. While existing methods exploit…

We propose FutrTrack, a modular camera-LiDAR multi-object tracking framework that builds on existing 3D detectors by introducing a transformer-based smoother and a fusion-driven tracker. Inspired by query-based tracking frameworks,…

The primary value of infrared and visible image fusion technology lies in applying the fusion results to downstream tasks. However, existing methods face challenges such as increased training complexity and significantly compromised…

Motion estimation approaches typically employ sensor fusion techniques, such as the Kalman Filter, to handle individual sensor failures. More recently, deep learning-based fusion approaches have been proposed, increasing the performance and…

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…

The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…

Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…

End-to-end autonomous driving (E2E-AD) has emerged as a trend in the field of autonomous driving, promising a data-driven, scalable approach to system design. However, existing E2E-AD methods usually adopt the sequential paradigm of…

We present DrivoR, a simple and efficient transformer-based architecture for end-to-end autonomous driving. Our approach builds on pretrained Vision Transformers (ViTs) and introduces camera-aware register tokens that compress multi-camera…

Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…

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…

This paper presents a LiDAR-based end-to-end autonomous driving method with Vehicle-to-Everything (V2X) communication integration, termed V2X-Lead, to address the challenges of navigating unregulated urban scenarios under mixed-autonomy…