相关论文: SparseDet: A Simple and Effective Framework for Fu…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

3D LiDAR scene completion from point clouds is a fundamental component of perception systems in autonomous vehicles. Previous methods have predominantly employed diffusion models for high-fidelity reconstruction. However, their multi-step…

LiDAR-based 3D object detection models often struggle to generalize to real-world environments due to limited object diversity in existing datasets. To tackle it, we introduce the first generalized cross-domain few-shot (GCFS) task in 3D…

The task of detecting 3D objects in traffic scenes has a pivotal role in many real-world applications. However, the performance of 3D object detection is lower than that of 2D object detection due to the lack of powerful 3D feature…

Vision Transformers (ViTs) enable strong multi-view 3D detection but are limited by high inference latency from dense token and query processing across multiple views and large 3D regions. Existing sparsity methods, designed mainly for 2D…

3D object detection is a key component of many robotic applications such as self-driving vehicles. While many approaches rely on expensive 3D sensors such as LiDAR to produce accurate 3D estimates, methods that exploit stereo cameras have…

Radar-based perception has gained increasing attention in autonomous driving, yet the inherent sparsity of radars poses challenges. Radar raw data often contains excessive noise, whereas radar point clouds retain only limited information.…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

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…

Perceiving the surrounding environment is a fundamental task in autonomous driving. To obtain highly accurate perception results, modern autonomous driving systems typically employ multi-modal sensors to collect comprehensive environmental…

Transformers have been successfully applied to the visual tracking task and significantly promote tracking performance. The self-attention mechanism designed to model long-range dependencies is the key to the success of Transformers.…

3D object detection plays an important role in a large number of real-world applications. It requires us to estimate the localizations and the orientations of 3D objects in real scenes. In this paper, we present a new network architecture…

Multi-view 3D object detection is a fundamental task in autonomous driving perception, where achieving a balance between detection accuracy and computational efficiency remains crucial. Sparse query-based 3D detectors efficiently aggregate…

In this paper, we present a Transformer-based architecture for 3D radar object detection that uses a novel Transformer Decoder as the prediction head to directly regress 3D bounding boxes and class scores from radar feature representations.…

To advance the state of the art in the creation of 3D foundation models, this paper introduces the ConDense framework for 3D pre-training utilizing existing pre-trained 2D networks and large-scale multi-view datasets. We propose a novel…

Leveraging the high temporal resolution and dynamic range, object detection with event cameras can enhance the performance and safety of automotive and robotics applications in real-world scenarios. However, processing sparse event data…

We propose LiRaFusion to tackle LiDAR-radar fusion for 3D object detection to fill the performance gap of existing LiDAR-radar detectors. To improve the feature extraction capabilities from these two modalities, we design an early fusion…

In this work, we present SpaRC, a novel Sparse fusion transformer for 3D perception that integrates multi-view image semantics with Radar and Camera point features. The fusion of radar and camera modalities has emerged as an efficient…

3D object detection is crucial for Autonomous Driving (AD) and Advanced Driver Assistance Systems (ADAS). However, most 3D detectors prioritize detection accuracy, often overlooking network inference speed in practical applications. In this…

Extending state-of-the-art object detectors from image to video is challenging. The accuracy of detection suffers from degenerated object appearances in videos, e.g., motion blur, video defocus, rare poses, etc. Existing work attempts to…