相关论文: CLFT: Camera-LiDAR Fusion Transformer for Semantic…

This technical report presents the 1st place winning solution for the Waymo Open Dataset 3D semantic segmentation challenge 2022. Our network, termed LidarMultiNet, unifies the major LiDAR perception tasks such as 3D semantic segmentation,…

Multi-task learning (MTL) paradigm focuses on jointly learning two or more tasks, aiming for significant improvement w.r.t model's generalizability, performance, and training/inference memory footprint. The aforementioned benefits become…

Fusing data from cameras and LiDAR sensors is an essential technique to achieve robust 3D object detection. One key challenge in camera-LiDAR fusion involves mitigating the large domain gap between the two sensors in terms of coordinates…

LiDAR sensors are often considered essential for autonomous driving, but high-resolution sensors remain expensive while affordable low-resolution sensors produce sparse point clouds that miss critical details. LiDAR super-resolution…

Fully autonomous driving systems require fast detection and recognition of sensitive objects in the environment. In this context, intelligent vehicles should share their sensor data with computing platforms and/or other vehicles, to detect…

Multi-modal fusion is a fundamental task for the perception of an autonomous driving system, which has recently intrigued many researchers. However, achieving a rather good performance is not an easy task due to the noisy raw data,…

Robust road segmentation in all road conditions is required for safe autonomous driving and advanced driver assistance systems. Supervised deep learning methods provide accurate road segmentation in the domain of their training data but…

High-resolution LiDAR data plays a critical role in 3D semantic segmentation for autonomous driving, but the high cost of advanced sensors limits large-scale deployment. In contrast, low-cost sensors such as 16-channel LiDAR produce sparse…

State-of-the-art methods for large-scale driving-scene LiDAR semantic segmentation often project and process the point clouds in the 2D space. The projection methods includes spherical projection, bird-eye view projection, etc. Although…

We present a self-supervised learning approach for the semantic segmentation of lidar frames. Our method is used to train a deep point cloud segmentation architecture without any human annotation. The annotation process is automated with…

Semantic scene segmentation from a bird's-eye-view (BEV) perspective plays a crucial role in facilitating planning and decision-making for mobile robots. Although recent vision-only methods have demonstrated notable advancements in…

Accurate and robust object detection is critical for autonomous driving. Image-based detectors face difficulties caused by low visibility in adverse weather conditions. Thus, radar-camera fusion is of particular interest but presents…

Semantic segmentation on driving-scene images is vital for autonomous driving. Although encouraging performance has been achieved on daytime images, the performance on nighttime images are less satisfactory due to the insufficient exposure…

Semantic segmentation on LiDAR imaging is increasingly gaining attention, as it can provide useful knowledge for perception systems and potential for autonomous driving. However, collecting and labeling real LiDAR data is an expensive and…

Sensor fusion has become a popular topic in robotics. However, conventional fusion methods encounter many difficulties, such as data representation differences, sensor variations, and extrinsic calibration. For example, the calibration…

Ensuring safe transition of control in automated vehicles requires an accurate and timely assessment of driver readiness. This paper introduces Driver-Net, a novel deep learning framework that fuses multi-camera inputs to estimate driver…

In recent years, the development of robust Intelligent transportation systems (ITS) is tackled across the globe to provide better traffic efficiency by reducing frequent traffic problems. As an application of ITS, vehicle re-identification…

Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive tasks. However,…

The transformer-based semantic segmentation approaches, which divide the image into different regions by sliding windows and model the relation inside each window, have achieved outstanding success. However, since the relation modeling…

Object recognition from live video streams comes with numerous challenges such as the variation in illumination conditions and poses. Convolutional neural networks (CNNs) have been widely used to perform intelligent visual object…