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

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

3D pedestrian detection is a challenging task in automated driving because pedestrians are relatively small, frequently occluded and easily confused with narrow vertical objects. LiDAR and camera are two commonly used sensor modalities for…

Panoptic segmentation, which combines instance and semantic segmentation, has gained a lot of attention in autonomous vehicles, due to its comprehensive representation of the scene. This task can be applied for cameras and LiDAR sensors,…

Multimodal image fusion and semantic segmentation are critical for autonomous driving. Despite advancements, current models often struggle with segmenting densely packed elements due to a lack of comprehensive fusion features for guidance…

We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…

Although significant progress has been made, achieving place recognition in environments with perspective changes, seasonal variations, and scene transformations remains challenging. Relying solely on perception information from a single…

Lidars and cameras play essential roles in autonomous driving, offering complementary information for 3D detection. The state-of-the-art fusion methods integrate them at the feature level, but they mostly rely on the learned soft…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

Recent advancements in perception for autonomous driving are driven by deep learning. In order to achieve robust and accurate scene understanding, autonomous vehicles are usually equipped with different sensors (e.g. cameras, LiDARs,…

Semantic segmentation of 3D point cloud data is essential for enhanced high-level perception in autonomous platforms. Furthermore, given the increasing deployment of LiDAR sensors onboard of cars and drones, a special emphasis is also…

3D object detection task from lidar or camera sensors is essential for autonomous driving. Pioneer attempts at multi-modality fusion complement the sparse lidar point clouds with rich semantic texture information from images at the cost of…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

Integrating LiDAR and Camera information into Bird's-Eye-View (BEV) has become an essential topic for 3D object detection in autonomous driving. Existing methods mostly adopt an independent dual-branch framework to generate LiDAR and camera…

Semantic segmentation of large-scale 3D point clouds is crucial for applications such as autonomous driving and urban digital twins. However, the sparse sampling pattern of LiDAR and the view-dependent geometric distortion in image…

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…

Accurate moving object segmentation is an essential task for autonomous driving. It can provide effective information for many downstream tasks, such as collision avoidance, path planning, and static map construction. How to effectively…

In this paper, we present an extension to LaserNet, an efficient and state-of-the-art LiDAR based 3D object detector. We propose a method for fusing image data with the LiDAR data and show that this sensor fusion method improves the…

Critical research about camera-and-LiDAR-based semantic object segmentation for autonomous driving significantly benefited from the recent development of deep learning. Specifically, the vision transformer is the novel ground-breaker that…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception. A key difficulty lies in the modality gap between unstructured point clouds and…