相关论文: CRKD: Enhanced Camera-Radar Object Detection with …

Camera and radar sensors have significant advantages in cost, reliability, and maintenance compared to LiDAR. Existing fusion methods often fuse the outputs of single modalities at the result-level, called the late fusion strategy. This can…

Online HD map construction is a fundamental task in autonomous driving systems, aiming to acquire semantic information of map elements around the ego vehicle based on real-time sensor inputs. Recently, several approaches have achieved…

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…

While LiDAR sensors have been successfully applied to 3D object detection, the affordability of radar and camera sensors has led to a growing interest in fusing radars and cameras for 3D object detection. However, previous radar-camera…

In this paper, we propose a new deep architecture for fusing camera and LiDAR sensors for 3D object detection. Because the camera and LiDAR sensor signals have different characteristics and distributions, fusing these two modalities is…

There have been significant advances in neural networks for both 3D object detection using LiDAR and 2D object detection using video. However, it has been surprisingly difficult to train networks to effectively use both modalities in a way…

Accurately localizing 3D objects like pedestrians, cyclists, and other vehicles is essential in Autonomous Driving. To ensure high detection performance, Autonomous Vehicles complement RGB cameras with LiDAR sensors, but effectively…

Hyperspectral imaging, capturing detailed spectral information for each pixel, is pivotal in diverse scientific and industrial applications. Yet, the acquisition of high-resolution (HR) hyperspectral images (HSIs) often needs to be…

4D radar has received significant attention in autonomous driving thanks to its robustness under adverse weathers. Due to the sparse points and noisy measurements of the 4D radar, most of the research finish the 3D object detection task by…

Multi-view 3D detection with bird's eye view (BEV) is crucial for autonomous driving and robotics, but its robustness in real-world is limited as it struggles to predict accurate depth values. A mainstream solution, cross-modal…

Despite substantial progress in 3D object detection, advanced 3D detectors often suffer from heavy computation overheads. To this end, we explore the potential of knowledge distillation (KD) for developing efficient 3D object detectors,…

Object detection in camera images, using deep learning has been proven successfully in recent years. Rising detection rates and computationally efficient network structures are pushing this technique towards application in production…

We propose DeepFusion, a modular multi-modal architecture to fuse lidars, cameras and radars in different combinations for 3D object detection. Specialized feature extractors take advantage of each modality and can be exchanged easily,…

Autonomous systems have advanced significantly, but challenges persist in accident-prone environments where robust decision-making is crucial. A single vehicle's limited sensor range and obstructed views increase the likelihood of…

Knowledge distillation (KD) is an effective method for compressing models in object detection tasks. Due to limited computational capability, UAV-based object detection (UAV-OD) widely adopt the KD technique to obtain lightweight detectors.…

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…

Knowledge distillation (KD) is an established paradigm for transferring privileged knowledge from a cumbersome model to a lightweight and efficient one. In recent years, logit-based KD methods are quickly catching up in performance with…

Recently, radar-camera fusion algorithms have gained significant attention as radar sensors provide geometric information that complements the limitations of cameras. However, most existing radar-camera depth estimation algorithms focus…

2D RGB images and 3D LIDAR point clouds provide complementary knowledge for the perception system of autonomous vehicles. Several 2D and 3D fusion methods have been explored for the LIDAR semantic segmentation task, but they suffer from…

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,…