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

Crossmodal knowledge distillation (KD) aims to enhance a unimodal student using a multimodal teacher model. In particular, when the teacher's modalities include the student's, additional complementary information can be exploited to improve…

Video surveillance systems are crucial components for ensuring public safety and management in smart city. As a fundamental task in video surveillance, text-to-image person retrieval aims to retrieve the target person from an image gallery…

Thanks to the complementary nature of millimeter wave radar and camera, deep learning-based radar-camera 3D object detection methods may reliably produce accurate detections even in low-visibility conditions. This makes them preferable to…

Knowledge distillation (KD) is a promising yet challenging model compression technique that transfers rich learning representations from a well-performing but cumbersome teacher model to a compact student model. Previous methods for image…

A common dilemma in 3D object detection for autonomous driving is that high-quality, dense point clouds are only available during training, but not testing. We use knowledge distillation to bridge the gap between a model trained on…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

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,…

Environmental perception with the multi-modal fusion of radar and camera is crucial in autonomous driving to increase accuracy, completeness, and robustness. This paper focuses on utilizing millimeter-wave (MMW) radar and camera sensor…

3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…

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 face major perception and navigation challenges in adverse weather such as rain, fog, and snow, which degrade the performance of LiDAR, RADAR, and RGB camera sensors. While each sensor type offers unique strengths, such…

We present a new way to detect 3D objects from multimodal inputs, leveraging both LiDAR and RGB cameras in a hybrid late-cascade scheme, that combines an RGB detection network and a 3D LiDAR detector. We exploit late fusion principles to…

3D multi-object tracking is a crucial component in the perception system of autonomous driving vehicles. Tracking all dynamic objects around the vehicle is essential for tasks such as obstacle avoidance and path planning. Autonomous…

Knowledge distillation (KD) is one of the most potent ways for model compression. The key idea is to transfer the knowledge from a deep teacher model (T) to a shallower student (S). However, existing methods suffer from performance…

Camera-based temporal 3D object detection has shown impressive results in autonomous driving, with offline models improving accuracy by using future frames. Knowledge distillation (KD) can be an appealing framework for transferring rich…

Vision foundation models (VFMs) such as DINO have led to a paradigm shift in 2D camera-based perception towards extracting generalized features to support many downstream tasks. Recent works introduce self-supervised cross-modal knowledge…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

In practical applications of human pose estimation, low-resolution inputs frequently occur, and existing state-of-the-art models perform poorly with low-resolution images. This work focuses on boosting the performance of low-resolution…

Cameras and LiDARs are both important sensors for autonomous driving, playing critical roles in 3D object detection. Camera-LiDAR Fusion has been a prevalent solution for robust and accurate driving perception. In contrast to the vast…

Most teacher-student frameworks based on knowledge distillation (KD) depend on a strong congruent constraint on instance level. However, they usually ignore the correlation between multiple instances, which is also valuable for knowledge…