相关论文: Diffusion-Based Particle-DETR for BEV Perception

We present WidthFormer, a novel transformer-based module to compute Bird's-Eye-View (BEV) representations from multi-view cameras for real-time autonomous-driving applications. WidthFormer is computationally efficient, robust and does not…

Motion prediction is an important aspect for Autonomous Driving (AD) and Advance Driver Assistance Systems (ADAS). Current state-of-the-art motion prediction methods rely on High Definition (HD) maps for capturing the surrounding context of…

Accurate perception and scene understanding in complex urban environments is a critical challenge for ensuring safe and efficient autonomous navigation. In this paper, we present Co-Win, a novel bird's eye view (BEV) perception framework…

Vision-based autonomous driving requires reliable and efficient object detection. This work proposes a DiffusionDet-based framework that exploits data fusion from the monocular camera and depth sensor to provide the RGB and depth (RGB-D)…

Bird's-eye view (BEV) perception has garnered significant attention in autonomous driving in recent years, in part because BEV representation facilitates multi-modal sensor fusion. BEV representation enables a variety of perception tasks…

Object detection has recently seen an interesting trend in terms of the most innovative research work, this task being of particular importance in the field of remote sensing, given the consistency of these images in terms of geographical…

We present a new method that views object detection as a direct set prediction problem. Our approach streamlines the detection pipeline, effectively removing the need for many hand-designed components like a non-maximum suppression…

LiDAR-based 3D object detection plays a crucial role in modern autonomous driving systems. LiDAR data often exhibit severe changes in properties across different observation ranges. In this paper, we explore cross-range adaptation for 3D…

We present 3DiffTection, a state-of-the-art method for 3D object detection from single images, leveraging features from a 3D-aware diffusion model. Annotating large-scale image data for 3D detection is resource-intensive and time-consuming.…

Automatic Vehicle Detection (AVD) in diverse driving environments presents unique challenges due to varying lighting conditions, road types, and vehicle types. Traditional methods, such as YOLO and Faster R-CNN, often struggle to cope with…

Current perceptive models heavily depend on resource-intensive datasets, prompting the need for innovative solutions. Leveraging recent advances in diffusion models, synthetic data, by constructing image inputs from various annotations,…

We propose DiffusionDet, a new framework that formulates object detection as a denoising diffusion process from noisy boxes to object boxes. During the training stage, object boxes diffuse from ground-truth boxes to random distribution, and…

Camouflaged object detection is a challenging task that aims to identify objects that are highly similar to their background. Due to the powerful noise-to-image denoising capability of denoising diffusion models, in this paper, we propose a…

We present RangeRCNN, a novel and effective 3D object detection framework based on the range image representation. Most existing methods are voxel-based or point-based. Though several optimizations have been introduced to ease the sparsity…

Previous visual object tracking methods employ image-feature regression models or coordinate autoregression models for bounding box prediction. Image-feature regression methods heavily depend on matching results and do not utilize…

We present a simple yet effective fully convolutional one-stage 3D object detector for LiDAR point clouds of autonomous driving scenes, termed FCOS-LiDAR. Unlike the dominant methods that use the bird-eye view (BEV), our proposed detector…

Recently, detection transformers (DETRs) have gradually taken a dominant position in 2D detection thanks to their elegant framework. However, DETR-based detectors for 3D point clouds are still difficult to achieve satisfactory performance.…

Distinguishing visually similar objects by their motion remains a critical challenge in computer vision. Although supervised trackers show promise, contemporary self-supervised trackers struggle when visual cues become ambiguous, limiting…

Predicting the trajectory of an ego vehicle is a critical component of autonomous driving systems. Current state-of-the-art methods typically rely on Deep Neural Networks (DNNs) and sequential models to process front-view images for future…

Environment perception is the task for intelligent vehicles on which all subsequent steps rely. A key part of perception is to safely detect other road users such as vehicles, pedestrians, and cyclists. With modern deep learning techniques…