相关论文: Sparse4D v3: Advancing End-to-End 3D Detection and…

3D object detection is essential in autonomous driving, providing vital information about moving objects and obstacles. Detecting objects in distant regions with only a few LiDAR points is still a challenge, and numerous strategies have…

Recent developments in differentiable and neural rendering have made impressive breakthroughs in a variety of 2D and 3D tasks, e.g. novel view synthesis, 3D reconstruction. Typically, differentiable rendering relies on a dense viewpoint…

The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end…

Perception that involves multi-object detection and tracking, and trajectory prediction are two major tasks of autonomous driving. However, they are currently mostly studied separately, which results in most trajectory prediction modules…

By identifying four important components of existing LiDAR-camera 3D object detection methods (LiDAR and camera candidates, transformation, and fusion outputs), we observe that all existing methods either find dense candidates or yield…

4D radar measurements offer an affordable and weather-robust solution for 3D perception. However, the inherent sparsity and noise of radar point clouds present significant challenges for accurate 3D object detection, underscoring the need…

End-to-End Autonomous Driving (E2EAD) methods typically rely on supervised perception tasks to extract explicit scene information (e.g., objects, maps). This reliance necessitates expensive annotations and constrains deployment and data…

Recently 3D object detection from surround-view images has made notable advancements with its low deployment cost. However, most works have primarily focused on close perception range while leaving long-range detection less explored.…

3D object detectors usually rely on hand-crafted proxies, e.g., anchors or centers, and translate well-studied 2D frameworks to 3D. Thus, sparse voxel features need to be densified and processed by dense prediction heads, which inevitably…

LiDAR-based sparse 3D object detection plays a crucial role in autonomous driving applications due to its computational efficiency advantages. Existing methods either use the features of a single central voxel as an object proxy, or treat…

Radar-based perception has gained increasing attention in autonomous driving, yet the inherent sparsity of radars poses challenges. Radar raw data often contains excessive noise, whereas radar point clouds retain only limited information.…

In recent years, 3D object perception has become a crucial component in the development of autonomous driving systems, providing essential environmental awareness. However, as perception tasks in autonomous driving evolve, their variants…

The detection of 3D objects from LiDAR data is a critical component in most autonomous driving systems. Safe, high speed driving needs larger detection ranges, which are enabled by new LiDARs. These larger detection ranges require more…

Semi-supervised 3D object detection is a common strategy employed to circumvent the challenge of manually labeling large-scale autonomous driving perception datasets. Pseudo-labeling approaches to semi-supervised learning adopt a…

As the perception range of LiDAR increases, LiDAR-based 3D object detection becomes a dominant task in the long-range perception task of autonomous driving. The mainstream 3D object detectors usually build dense feature maps in the network…

Semantic Segmentation is a crucial component in the perception systems of many applications, such as robotics and autonomous driving that rely on accurate environmental perception and understanding. In literature, several approaches are…

Having precise perception of the environment is crucial for ensuring the secure and reliable functioning of autonomous driving systems. Radar object detection networks are one fundamental part of such systems. CNN-based object detectors…

Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of perception stack especially for the sake of path planning, motion…

3D object detection using point cloud (PC) data is essential for perception pipelines of autonomous driving, where efficient encoding is key to meeting stringent resource and latency requirements. PointPillars, a widely adopted bird's-eye…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…