相关论文: Enhanced Automotive Object Detection via RGB-D Fus…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

This paper presents a novel monitoring framework that infers the level of collision risk for autonomous vehicles (AVs) based on their object detection performance. The framework takes two sets of predictions from different algorithms and…

Many LiDAR-based methods for detecting large objects, single-class object detection, or under easy situations were claimed to perform quite well. However, their performances of detecting small objects or under hard situations did not…

3D object detection is essential for autonomous driving. As an emerging sensor, 4D imaging radar offers advantages as low cost, long-range detection, and accurate velocity measurement, making it highly suitable for object detection.…

Safety-critical applications, such as autonomous driving, require extensive multimodal data for rigorous testing. Methods based on synthetic data are gaining prominence due to the cost and complexity of gathering real-world data but require…

Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…

LiDAR sensors are widely used in autonomous driving due to the reliable 3D spatial information. However, the data of LiDAR is sparse and the frequency of LiDAR is lower than that of cameras. To generate denser point clouds spatially and…

Depth estimation, essential for autonomous driving, seeks to interpret the 3D environment surrounding vehicles. The development of radar sensors, known for their cost-efficiency and robustness, has spurred interest in radar-camera…

This paper describes a method to detect generic dynamic objects for automated driving. First, a LiDAR-based dynamic grid is generated online. Second, a deep learning-based detector is trained on the dynamic grid to infer the presence of…

3D object detection with surround-view images is an essential task for autonomous driving. In this work, we propose DETR4D, a Transformer-based framework that explores sparse attention and direct feature query for 3D object detection in…

Ensuring robust and real-time obstacle avoidance is critical for the safe operation of autonomous robots in dynamic, real-world environments. This paper proposes a neural network framework for predicting the time and collision position of…

Interacting with the environment, such as object detection and tracking, is a crucial ability of mobile robots. Besides high accuracy, efficiency in terms of processing effort and energy consumption are also desirable. To satisfy both…

Semi-supervised object detection is crucial for 3D scene understanding, efficiently addressing the limitation of acquiring large-scale 3D bounding box annotations. Existing methods typically employ a teacher-student framework with…

Detecting objects from UAV-captured images is challenging due to the small object size. In this work, a simple and efficient adaptive zoom-in framework is explored for object detection on UAV images. The main motivation is that the…

In this work, we present a conceptually simple yet effective framework for cross-modality 3D object detection, named voxel field fusion. The proposed approach aims to maintain cross-modality consistency by representing and fusing augmented…

We present JointDiT, a diffusion transformer that models the joint distribution of RGB and depth. By leveraging the architectural benefit and outstanding image prior of the state-of-the-art diffusion transformer, JointDiT not only generates…

Various autonomous or assisted driving strategies have been facilitated through the accurate and reliable perception of the environment around a vehicle. Among the commonly used sensors, radar has usually been considered as a robust and…

Leveraging multi-modal fusion, especially between camera and LiDAR, has become essential for building accurate and robust 3D object detection systems for autonomous vehicles. Until recently, point decorating approaches, in which point…

This paper tackles the 3D object detection problem, which is of vital importance for applications such as autonomous driving. Our framework uses a Machine Learning (ML) pipeline on a combination of monocular camera and LiDAR data to detect…

This paper proposes 3DGeoDet, a novel geometry-aware 3D object detection approach that effectively handles single- and multi-view RGB images in indoor and outdoor environments, showcasing its general-purpose applicability. The key challenge…