相关论文: MR3D-Net: Dynamic Multi-Resolution 3D Sparse Voxel…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…

The fusion of multimodal sensor data streams such as camera images and lidar point clouds plays an important role in the operation of autonomous vehicles (AVs). Robust perception across a range of adverse weather and lighting conditions is…

Accurate 3D scene understanding in outdoor environments heavily relies on high-quality point clouds. However, LiDAR-scanned data often suffer from extreme sparsity, severely hindering downstream 3D perception tasks. Existing point cloud…

Object detection is the central issue of intelligent traffic systems, and recent advancements in single-vehicle lidar-based 3D detection indicate that it can provide accurate position information for intelligent agents to make decisions and…

Detecting dynamic objects and predicting static road information such as drivable areas and ground heights are crucial for safe autonomous driving. Previous works studied each perception task separately, and lacked a collective quantitative…

Accurate 3D perception is essential for understanding the environment in autonomous driving. Recent advancements in 3D semantic occupancy prediction have leveraged camera-LiDAR fusion to improve robustness and accuracy. However, current…

Millimeter-wave radar enables robust environment perception in autonomous systems under adverse conditions yet suffers from sparse, noisy point clouds with low angular resolution. Existing diffusion-based radar enhancement methods either…

Recent open-vocabulary 3D scene understanding approaches mainly focus on training 3D networks through contrastive learning with point-text pairs or by distilling 2D features into 3D models via point-pixel alignment. While these methods show…

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…

Many recent works on 3D object detection have focused on designing neural network architectures that can consume point cloud data. While these approaches demonstrate encouraging performance, they are typically based on a single modality and…

We present MVD-Fusion: a method for single-view 3D inference via generative modeling of multi-view-consistent RGB-D images. While recent methods pursuing 3D inference advocate learning novel-view generative models, these generations are not…

LiDAR-based 3D object detectors often struggle to detect far-field objects due to the sparsity of point clouds at long ranges, which limits the availability of reliable geometric cues. To address this, prior approaches augment LiDAR data…

End-to-end perception and trajectory prediction from raw sensor data is one of the key capabilities for autonomous driving. Modular pipelines restrict information flow and can amplify upstream errors. Recent query-based, fully…

Perception for automated driving is largely based on onboard environmental sensors, such as cameras and radar, which are cost-effective but limited by line-of-sight and field-of-view constraints. These inherent limitations may cause onboard…

In this paper, we propose SpotNet: a fast, single stage, image-centric but LiDAR anchored approach for long range 3D object detection. We demonstrate that our approach to LiDAR/image sensor fusion, combined with the joint learning of 2D and…

Object detection and global localization play a crucial role in robotics, spanning across a great spectrum of applications from autonomous cars to multi-layered 3D Scene Graphs for semantic scene understanding. This article proposes BOX3D,…

Fusion of 2D images and 3D point clouds is important because information from dense images can enhance sparse point clouds. However, fusion is challenging because 2D and 3D data live in different spaces. In this work, we propose MVPNet…

Vehicle-to-Infrastructure (V2I) collaborative perception leverages data collected by infrastructure's sensors to enhance vehicle perceptual capabilities. LiDAR, as a commonly used sensor in cooperative perception, is widely equipped in…

The ability to interpret and comprehend a 3D scene is essential for many vision and robotics systems. In numerous applications, this involves 3D object detection, i.e.~identifying the location and dimensions of objects belonging to a…