相关论文: MonoWAD: Weather-Adaptive Diffusion Model for Robu…

Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…

Monocular multi-object detection and localization in 3D space has been proven to be a challenging task. The MoNet3D algorithm is a novel and effective framework that can predict the 3D position of each object in a monocular image and draw a…

With the advancement of autonomous driving, numerous annotated multi-modality datasets have become available. This presents an opportunity to develop domain-adaptive 3D object detectors for new environments without relying on…

Monocular 3D detection is a challenging task due to the lack of accurate 3D information. Existing approaches typically rely on geometry constraints and dense depth estimates to facilitate the learning, but often fail to fully exploit the…

Deep neural networks designed for vision tasks are often prone to failure when they encounter environmental conditions not covered by the training data. Single-modal strategies are insufficient when the sensor fails to acquire information…

This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…

Advances in perception for self-driving cars have accelerated in recent years due to the availability of large-scale datasets, typically collected at specific locations and under nice weather conditions. Yet, to achieve the high safety…

Realizing unified 3D object detection, including both indoor and outdoor scenes, holds great importance in applications like robot navigation. However, involving various scenarios of data to train models poses challenges due to their…

LiDAR and camera are two important sensors for 3D object detection in autonomous driving. Despite the increasing popularity of sensor fusion in this field, the robustness against inferior image conditions, e.g., bad illumination and sensor…

Monocular 3D detection (Mono3D) aims to infer 3D bounding boxes from a single RGB image. Without auxiliary sensors such as LiDAR, this task is inherently ill-posed since the 3D-to-2D projection introduces depth ambiguity. Previous works…

Object detection in urban scenarios is crucial for autonomous driving in intelligent traffic systems. However, unlike conventional object detection tasks, urban-scene images vary greatly in style. For example, images taken on sunny days…

Monocular 3D object detection is a key problem for autonomous vehicles, as it provides a solution with simple configuration compared to typical multi-sensor systems. The main challenge in monocular 3D detection lies in accurately predicting…

Autonomous Vehicles (AVs) are mostly reliant on LiDAR sensors which enable spatial perception of their surroundings and help make driving decisions. Recent works demonstrated attacks that aim to hide objects from AV perception, which can…

We propose a 3D object detection system with multi-sensor refinement in the context of autonomous driving. In our framework, the monocular camera serves as the fundamental sensor for 2D object proposal and initial 3D bounding box…

In this paper we propose a novel 3D single-shot object detection method for detecting vehicles in monocular RGB images. Our approach lifts 2D detections to 3D space by predicting additional regression and classification parameters and hence…

Camera, LiDAR and radar are common perception sensors for autonomous driving tasks. Robust prediction of 3D object detection is optimally based on the fusion of these sensors. To exploit their abilities wisely remains a challenge because…

There have been attempts to detect 3D objects by fusion of stereo camera images and LiDAR sensor data or using LiDAR for pre-training and only monocular images for testing, but there have been less attempts to use only monocular image…

Monocular 3D object detection is very challenging in autonomous driving due to the lack of depth information. This paper proposes a one-stage monocular 3D object detection algorithm based on multi-scale depth stratification, which uses the…

Pseudo-LiDAR 3D detectors have made remarkable progress in monocular 3D detection by enhancing the capability of perceiving depth with depth estimation networks, and using LiDAR-based 3D detection architectures. The advanced stereo 3D…

Visual geo-localization for drones faces critical degradation under weather perturbations, \eg, rain and fog, where existing methods struggle with two inherent limitations: 1) Heavy reliance on limited weather categories that constrain…