相关论文: RoboFusion: Towards Robust Multi-Modal 3D Object D…

Robust 3D object detection in extreme weather and illumination conditions is a challenging task. While radars and thermal cameras are known for their resilience to these conditions, few studies have been conducted on radar-thermal fusion…

This paper introduces VLMFusionOcc3D, a robust multimodal framework for dense 3D semantic occupancy prediction in autonomous driving. Current voxel-based occupancy models often struggle with semantic ambiguity in sparse geometric grids and…

The fusion of LiDAR and camera sensors has demonstrated significant effectiveness in achieving accurate detection for short-range tasks in autonomous driving. However, this fusion approach could face challenges when dealing with long-range…

In this technical study, we introduce VFusedSeg3D, an innovative multi-modal fusion system created by the VisionRD team that combines camera and LiDAR data to significantly enhance the accuracy of 3D perception. VFusedSeg3D uses the rich…

Reliable and precise detection of small and irregular objects, such as meteor fragments and rocks, is critical for autonomous navigation and operation in lunar surface exploration. Existing multimodal 3D perception methods designed for…

In this paper, we propose a novel approach to address the problem of camera and radar sensor fusion for 3D object detection in autonomous vehicle perception systems. Our approach builds on recent advances in deep learning and leverages the…

We present MaskFusion, a real-time, object-aware, semantic and dynamic RGB-D SLAM system that goes beyond traditional systems which output a purely geometric map of a static scene. MaskFusion recognizes, segments and assigns semantic class…

The state of the art in 3D object detection using sensor fusion heavily relies on calibration quality, which is difficult to maintain in large scale deployment outside a lab environment. We present the first calibration-free approach for 3D…

Good 3D object detection performance from LiDAR-Camera sensors demands seamless feature alignment and fusion strategies. We propose the 3DifFusionDet framework in this paper, which structures 3D object detection as a denoising diffusion…

Reliable segmentation of road lines and markings is critical to autonomous driving. Our work is motivated by the observations that road lines and markings are (1) frequently occluded in the presence of moving vehicles, shadow, and glare and…

3D vehicle detection based on multi-modal fusion is an important task of many applications such as autonomous driving. Although significant progress has been made, we still observe two aspects that need to be further improvement: First, the…

Camera and LiDAR sensor modalities provide complementary appearance and geometric information useful for detecting 3D objects for autonomous vehicle applications. However, current end-to-end fusion methods are challenging to train and…

Autonomous Vehicles (AVs) increasingly depend on Multi-Sensor Fusion (MSF) to combine complementary modalities such as cameras and LiDAR for robust perception. While this redundancy is intended to safeguard against single-sensor failures,…

3D object detection with surrounding cameras has been a promising direction for autonomous driving. In this paper, we present SimMOD, a Simple baseline for Multi-camera Object Detection, to solve the problem. To incorporate multi-view…

Real-time dense scene reconstruction during unstable camera motions is crucial for robotics, yet current RGB-D SLAM systems fail when cameras experience large viewpoint changes, fast motions, or sudden shaking. Classical optimization-based…

Multi-sensor fusion is crucial for improving the performance and robustness of end-to-end autonomous driving systems. Existing methods predominantly adopt either attention-based flatten fusion or bird's eye view fusion through geometric…

In this work, we present PoIFusion, a conceptually simple yet effective multi-modal 3D object detection framework to fuse the information of RGB images and LiDAR point clouds at the points of interest (PoIs). Different from the most…

For 3D object detection, both camera and lidar have been demonstrated to be useful sensory devices for providing complementary information about the same scenery with data representations in different modalities, e.g., 2D RGB image vs 3D…

We present PointFusion, a generic 3D object detection method that leverages both image and 3D point cloud information. Unlike existing methods that either use multi-stage pipelines or hold sensor and dataset-specific assumptions,…

With the advancement of deep learning, object detectors (ODs) with various architectures have achieved significant success in complex scenarios like autonomous driving. Previous adversarial attacks against ODs have been focused on designing…