相关论文: BiCo-Fusion: Bidirectional Complementary LiDAR-Cam…

Most autonomous vehicles are equipped with LiDAR sensors and stereo cameras. The former is very accurate but generates sparse data, whereas the latter is dense, has rich texture and color information but difficult to extract robust 3D…

LiDAR-camera fusion methods have shown impressive performance in 3D object detection. Recent advanced multi-modal methods mainly perform global fusion, where image features and point cloud features are fused across the whole scene. Such…

In LiDAR-based 3D detection, history point clouds contain rich temporal information helpful for future prediction. In the same way, history detections should contribute to future detections. In this paper, we propose a detection enhancement…

Although fusing multiple sensor modalities can enhance object detection performance, existing fusion approaches often overlook subtle variations in environmental conditions and sensor inputs. As a result, they struggle to adaptively weight…

Collaborative perception in automated vehicles leverages the exchange of information between agents, aiming to elevate perception results. Previous camera-based collaborative 3D perception methods typically employ 3D bounding boxes or…

Map construction task plays a vital role in providing precise and comprehensive static environmental information essential for autonomous driving systems. Primary sensors include cameras and LiDAR, with configurations varying between…

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…

In this paper, we propose an accurate and robust perception module for Autonomous Vehicles (AVs) for drivable space extraction. Perception is crucial in autonomous driving, where many deep learning-based methods, while accurate on benchmark…

Depth-guided multimodal fusion combines depth information from visible and infrared images, significantly enhancing the performance of 3D reconstruction and robotics applications. Existing thermal-visible image fusion mainly focuses on…

Multimodal 3D object detectors leverage the strengths of both geometry-aware LiDAR point clouds and semantically rich RGB images to enhance detection performance. However, the inherent heterogeneity between these modalities, including…

Fusing LiDAR and image features in a homogeneous BEV domain has become popular for 3D object detection in autonomous driving. However, this paradigm is constrained by the excessive feature compression. While some works explore dense voxel…

Compared with real-time multi-object tracking (MOT), offline multi-object tracking (OMOT) has the advantages to perform 2D-3D detection fusion, erroneous link correction, and full track optimization but has to deal with the challenges from…

In embodied intelligence systems, a key component is 3D perception algorithm, which enables agents to understand their surrounding environments. Previous algorithms primarily rely on point cloud, which, despite offering precise geometric…

Recent work on 3D object detection advocates point cloud voxelization in birds-eye view, where objects preserve their physical dimensions and are naturally separable. When represented in this view, however, point clouds are sparse and have…

Vision-language models have been key to the development of open-vocabulary 2D semantic segmentation. Lifting these models from 2D images to 3D scenes, however, remains a challenging problem. Existing approaches typically back-project and…

Accurate multi-view 3D object detection is essential for applications such as autonomous driving. Researchers have consistently aimed to leverage LiDAR's precise spatial information to enhance camera-based detectors through methods like…

LiDAR and camera, as two different sensors, supply geometric (point clouds) and semantic (RGB images) information of 3D scenes. However, it is still challenging for existing methods to fuse data from the two cross sensors, making them…

How should representations from complementary sensors be integrated for autonomous driving? Geometry-based sensor fusion has shown great promise for perception tasks such as object detection and motion forecasting. However, for the actual…

Bi-CamoDiffusion is introduced, an evolution of the CamoDiffusion framework for camouflaged object detection. It integrates edge priors into early-stage embeddings via a parameter-free injection process, which enhances boundary sharpness…

In recent years, the fusion of camera data with LiDAR measurements has emerged as a powerful approach to enhance spatial understanding. This study introduces a novel, hardware-agnostic methodology that generates colourised point clouds from…