相关论文: DI-V2X: Learning Domain-Invariant Representation f…

Segmenting or detecting objects in sparse Lidar point clouds are two important tasks in autonomous driving to allow a vehicle to act safely in its 3D environment. The best performing methods in 3D semantic segmentation or object detection…

Fusing data from cameras and LiDAR sensors is an essential technique to achieve robust 3D object detection. One key challenge in camera-LiDAR fusion involves mitigating the large domain gap between the two sensors in terms of coordinates…

Accurately perceiving complex driving environments is essential for ensuring the safe operation of autonomous vehicles. With the tremendous progress in deep learning and communication technologies, cooperative perception with…

Current state-of-the-art object detectors are at the expense of high computational costs and are hard to deploy to low-end devices. Knowledge distillation, which aims at training a smaller student network by transferring knowledge from a…

Vehicle-to-everything (V2X) cooperation has emerged as a promising paradigm to overcome the perception limitations of classical autonomous driving by leveraging information from both ego-vehicle and infrastructure sensors. However,…

LiDAR-based 3D object detection is an indispensable task in advanced autonomous driving systems. Though impressive detection results have been achieved by superior 3D detectors, they suffer from significant performance degeneration when…

This paper addresses the critical challenges of sparsity and occlusion in LiDAR-based 3D object detection. Current methods often rely on supplementary modules or specific architectural designs, potentially limiting their applicability to…

Radar-camera fusion methods have emerged as a cost-effective approach for 3D object detection but still lag behind LiDAR-based methods in performance. Recent works have focused on employing temporal fusion and Knowledge Distillation (KD)…

Knowledge distillation learns a lightweight student model that mimics a cumbersome teacher. Existing methods regard the knowledge as the feature of each instance or their relations, which is the instance-level knowledge only from the…

Semantic segmentation of 3D LiDAR data plays a pivotal role in autonomous driving. Traditional approaches rely on extensive annotated data for point cloud analysis, incurring high costs and time investments. In contrast, realworld image…

We study the problem of distilling knowledge from a large deep teacher network to a much smaller student network for the task of road marking segmentation. In this work, we explore a novel knowledge distillation (KD) approach that can…

Although the vision-and-language pretraining (VLP) equipped cross-modal image-text retrieval (ITR) has achieved remarkable progress in the past two years, it suffers from a major drawback: the ever-increasing size of VLP models restricts…

Current research is primarily dedicated to advancing the accuracy of camera-only 3D object detectors (apprentice) through the knowledge transferred from LiDAR- or multi-modal-based counterparts (expert). However, the presence of the domain…

V2X prediction can alleviate perception incompleteness caused by limited line of sight through fusing trajectory data from infrastructure and vehicles, which is crucial to traffic safety and efficiency. However, in dense traffic scenarios,…

The utilization of multi-modal sensor data in visual place recognition (VPR) has demonstrated enhanced performance compared to single-modal counterparts. Nonetheless, integrating additional sensors comes with elevated costs and may not be…

Single-domain generalization is essential for object detection, particularly when training models on a single source domain and evaluating them on unseen target domains. Domain shifts, such as changes in weather, lighting, or scene…

3D object detection is crucial for applications like autonomous driving and robotics. However, in real-world environments, variations in sensor data distribution due to sensor upgrades, weather changes, and geographic differences can…

Visual Place Recognition (VPR) aims to determine the geographic location of a query image by retrieving its most visually similar counterpart from a geo-tagged reference database. Recently, the emergence of the powerful visual foundation…

Although multi-view 3D object detection based on the Bird's-Eye-View (BEV) paradigm has garnered widespread attention as an economical and deployment-friendly perception solution for autonomous driving, there is still a performance gap…

Visible-infrared object detection has gained sufficient attention due to its detection performance in low light, fog, and rain conditions. However, visible and infrared modalities captured by different sensors exist the information…