相关论文: KAN-RCBEVDepth: A multi-modal fusion algorithm in …

To enable self-driving vehicles accurate detection and tracking of surrounding objects is essential. While Light Detection and Ranging (LiDAR) sensors have set the benchmark for high-performance systems, the appeal of camera-only solutions…

LiDAR point clouds have become the most common data source in autonomous driving. However, due to the sparsity of point clouds, accurate and reliable detection cannot be achieved in specific scenarios. Because of their complementarity with…

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…

3D vehicle detection based on multi-modal fusion is an important task of many applications such as autonomous driving. Although significant progress has been made, we still observe two aspects that need to be further improvement: First, the…

Multi-modal 3D object detection has received growing attention as the information from different sensors like LiDAR and cameras are complementary. Most fusion methods for 3D detection rely on an accurate alignment and calibration between 3D…

Sensor fusion is crucial for an accurate and robust perception system on autonomous vehicles. Most existing datasets and perception solutions focus on fusing cameras and LiDAR. However, the collaboration between camera and radar is…

Autonomous vehicle perception systems have traditionally relied on costly LiDAR sensors to generate precise environmental representations. In this paper, we propose a camera-only perception framework that produces Bird's Eye View (BEV) maps…

Bird's-Eye-View (BEV) perception has become a vital component of autonomous driving systems due to its ability to integrate multiple sensor inputs into a unified representation, enhancing performance in various downstream tasks. However,…

In this paper, we propose a new deep architecture for fusing camera and LiDAR sensors for 3D object detection. Because the camera and LiDAR sensor signals have different characteristics and distributions, fusing these two modalities is…

In autonomous driving, recent research has increasingly focused on collaborative perception based on deep learning to overcome the limitations of individual perception systems. Although these methods achieve high accuracy, they rely on high…

Cooperative perception allows a Connected Autonomous Vehicle (CAV) to interact with the other CAVs in the vicinity to enhance perception of surrounding objects to increase safety and reliability. It can compensate for the limitations of the…

When localizing and detecting 3D objects for autonomous driving scenes, obtaining information from multiple sensor (e.g. camera, LIDAR) typically increases the robustness of 3D detectors. However, the efficient and effective fusion of…

Accurate and reliable object detection is critical for ensuring the safety and efficiency of Connected Autonomous Vehicles (CAVs). Traditional on-board perception systems have limited accuracy due to occlusions and blind spots, while…

Accurate 3D lane estimation is crucial for ensuring safety in autonomous driving. However, prevailing monocular techniques suffer from depth loss and lighting variations, hampering accurate 3D lane detection. In contrast, LiDAR points offer…

3D object detection is an essential perception task in autonomous driving to understand the environments. The Bird's-Eye-View (BEV) representations have significantly improved the performance of 3D detectors with camera inputs on popular…

Multi-sensor modal fusion has demonstrated strong advantages in 3D object detection tasks. However, existing methods that fuse multi-modal features require transforming features into the bird's eye view space and may lose certain…

Vision-based 3D Detection task is fundamental task for the perception of an autonomous driving system, which has peaked interest amongst many researchers and autonomous driving engineers. However achieving a rather good 3D BEV (Bird's Eye…

With the development of AI-assisted driving, numerous methods have emerged for ego-vehicle 3D perception tasks, but there has been limited research on roadside perception. With its ability to provide a global view and a broader sensing…

For 3D object detection, both camera and lidar have been demonstrated to be useful sensory devices for providing complementary information about the same scenery with data representations in different modalities, e.g., 2D RGB image vs 3D…

Fully autonomous driving systems require fast detection and recognition of sensitive objects in the environment. In this context, intelligent vehicles should share their sensor data with computing platforms and/or other vehicles, to detect…