相关论文: Efficient 4D Radar Data Auto-labeling Method using…

Radar is a key component of the suite of perception sensors used for safe and reliable navigation of autonomous vehicles. Its unique capabilities include high-resolution velocity imaging, detection of agents in occlusion and over long…

Scene flow allows autonomous vehicles to reason about the arbitrary motion of multiple independent objects which is the key to long-term mobile autonomy. While estimating the scene flow from LiDAR has progressed recently, it remains largely…

Advanced Driver-Assistance Systems (ADAS) have successfully integrated learning-based techniques into vehicle perception and decision-making. However, their application in 3D lane detection for effective driving environment perception is…

Monocular 3D object detection is a challenging task in the self-driving and computer vision community. As a common practice, most previous works use manually annotated 3D box labels, where the annotating process is expensive. In this paper,…

We propose a technique to develop (and localize in) topological maps from light detection and ranging (Lidar) data. Localizing an autonomous vehicle with respect to a reference map in real-time is crucial for its safe operation. Owing to…

Unsupervised 3D object detection serves as an important solution for offline 3D object annotation. However, due to the data sparsity and limited views, the clustering-based label fitting in unsupervised object detection often generates…

Autonomous systems rely on accurate 3D object detection from LiDAR data, yet most detectors are limited to a predefined set of known classes, making them vulnerable to unexpected out-of-distribution (OOD) objects. In this work, we present…

A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…

Learning object detectors requires massive amounts of labeled training samples from the specific data source of interest. This is impractical when dealing with many different sources (e.g., in camera networks), or constantly changing ones…

This paper addresses key challenges in the development of autonomous landing systems, focusing on dataset limitations for supervised training of Machine Learning (ML) models for object detection. Our main contributions include: (1)…

A robust and accurate 3D detection system is an integral part of autonomous vehicles. Traditionally, a majority of 3D object detection algorithms focus on processing 3D point clouds using voxel grids or bird's eye view (BEV). Recent works,…

Compared to the onboard camera and laser scanner, radar sensor provides lighting and weather invariant sensing, which is naturally suitable for long-term localization under adverse conditions. However, radar data is sparse and noisy,…

As an emerging technology and a relatively affordable device, the 4D imaging radar has already been confirmed effective in performing 3D object detection in autonomous driving. Nevertheless, the sparsity and noisiness of 4D radar point…

Deep convolutional neural network with increased number of parameters has achieved improved precision in task of object detection on natural images, where objects of interests are annotated with horizontal boundary boxes. On aerial images…

LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

The potentials of automotive radar for autonomous driving have not been fully exploited. We present a multi-input multi-output (MIMO) radar transmit and receive signal processing chain, a knowledge-aided approach exploiting the radar domain…

Accurate 3D object detection is crucial to autonomous driving. Though LiDAR-based detectors have achieved impressive performance, the high cost of LiDAR sensors precludes their widespread adoption in affordable vehicles. Camera-based…

Reliable perception is essential for autonomous driving systems to operate safely under diverse real-world traffic conditions. However, camera- and LiDAR-based perception systems suffer from performance degradation under adverse weather and…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…