相关论文: LVIC: Multi-modality segmentation by Lifting Visua…

Camera and lidar are important sensor modalities for robotics in general and self-driving cars in particular. The sensors provide complementary information offering an opportunity for tight sensor-fusion. Surprisingly, lidar-only methods…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

Camera and 3D LiDAR sensors have become indispensable devices in modern autonomous driving vehicles, where the camera provides the fine-grained texture, color information in 2D space and LiDAR captures more precise and farther-away distance…

LiDAR and camera are two essential sensors for 3D object detection in autonomous driving. LiDAR provides accurate and reliable 3D geometry information while the camera provides rich texture with color. Despite the increasing popularity of…

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…

It is a crucial step to achieve effective semantic segmentation of lane marking during the construction of the lane level high-precision map. In recent years, many image semantic segmentation methods have been proposed. These methods mainly…

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…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

Camera and LiDAR serve as informative sensors for accurate and robust autonomous driving systems. However, these sensors often exhibit heterogeneous natures, resulting in distributional modality gaps that present significant challenges for…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…

3D panoptic segmentation is a challenging perception task that requires both semantic segmentation and instance segmentation. In this task, we notice that images could provide rich texture, color, and discriminative information, which can…

An automated vehicle operating in an urban environment must be able to perceive and recognise object/obstacles in a three-dimensional world while navigating in a constantly changing environment. In order to plan and execute accurate…

Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

Accurate detection of obstacles in 3D is an essential task for autonomous driving and intelligent transportation. In this work, we propose a general multimodal fusion framework FusionPainting to fuse the 2D RGB image and 3D point clouds at…

Semantic segmentation serves as a cornerstone of scene understanding in autonomous driving but continues to face significant challenges under complex conditions such as occlusion. Light field and LiDAR modalities provide complementary…

LiDAR point clouds have become the most common data source in autonomous driving. However, due to the sparsity of point clouds, accurate and reliable detection cannot be achieved in specific scenarios. Because of their complementarity with…