相关论文: SurfaceAug: Closing the Gap in Multimodal Ground T…

3D object detection is essential for autonomous driving. As an emerging sensor, 4D imaging radar offers advantages as low cost, long-range detection, and accurate velocity measurement, making it highly suitable for object detection.…

Robust road segmentation is a key challenge in self-driving research. Though many image-based methods have been studied and high performances in dataset evaluations have been reported, developing robust and reliable road segmentation is…

Multimodal Retrieval-Augmented Generation (Visual RAG) significantly advances question answering by integrating visual and textual evidence. Yet, current evaluations fail to systematically account for query difficulty and ambiguity. We…

The problem of 3D object recognition is of immense practical importance, with the last decade witnessing a number of breakthroughs in the state of the art. Most of the previous work has focused on the matching of textured objects using…

3D object detection is fundamental for safe and robust intelligent transportation systems. Current multi-modal 3D object detectors often rely on complex architectures and training strategies to achieve higher detection accuracy. However,…

This paper introduces SAMAug, a novel visual point augmentation method for the Segment Anything Model (SAM) that enhances interactive image segmentation performance. SAMAug generates augmented point prompts to provide more information about…

The burgeoning field of camouflaged object detection (COD) seeks to identify objects that blend into their surroundings. Despite the impressive performance of recent models, we have identified a limitation in their robustness, where…

3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…

Multi-object tracking (MOT) with camera-LiDAR fusion demands accurate results of object detection, affinity computation and data association in real time. This paper presents an efficient multi-modal MOT framework with online joint…

Accurate 3D object detection with LiDAR is critical for autonomous driving. Existing research is all based on the flat-world assumption. However, the actual road can be complex with steep sections, which breaks the premise. Current methods…

LiDAR and camera are two modalities available for 3D semantic segmentation in autonomous driving. The popular LiDAR-only methods severely suffer from inferior segmentation on small and distant objects due to insufficient laser points, while…

Monocular depth estimation is a critical task for autonomous driving and many other computer vision applications. While significant progress has been made in this field, the effects of viewpoint shifts on depth estimation models remain…

Creating large LiDAR datasets with pixel-level labeling poses significant challenges. While numerous data augmentation methods have been developed to reduce the reliance on manual labeling, these methods predominantly focus on static scenes…

Multi-object tracking (MOT) aims to associate target objects across video frames in order to obtain entire moving trajectories. With the advancement of deep neural networks and the increasing demand for intelligent video analysis, MOT has…

We present a new way to detect 3D objects from multimodal inputs, leveraging both LiDAR and RGB cameras in a hybrid late-cascade scheme, that combines an RGB detection network and a 3D LiDAR detector. We exploit late fusion principles to…

The high-quality, realistic images generated by generative models pose significant challenges for exposing them.So far, data-driven deep neural networks have been justified as the most efficient forensics tools for the challenges. However,…

Text augmentation is an effective technique for addressing the problem of insufficient data in natural language processing. However, existing text augmentation methods tend to focus on few-shot scenarios and usually perform poorly on large…

Road segmentation is a critical task for autonomous driving systems, requiring accurate and robust methods to classify road surfaces from various environmental data. Our work introduces an innovative approach that integrates LiDAR point…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

Depth completion and object detection are two crucial tasks often used for aerial 3D mapping, path planning, and collision avoidance of Uncrewed Aerial Vehicles (UAVs). Common solutions include using measurements from a LiDAR sensor;…