相关论文: Quantum Inverse Contextual Vision Transformers (Q-…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

Recently, Transformer architecture has been introduced into image restoration to replace convolution neural network (CNN) with surprising results. Considering the high computational complexity of Transformer with global attention, some…

Image classification, which classifies images by pre-defined categories, has been the dominant approach to visual representation learning over the last decade. Visual learning through image-text alignment, however, has emerged to show…

We present a simple yet effective fully convolutional one-stage 3D object detector for LiDAR point clouds of autonomous driving scenes, termed FCOS-LiDAR. Unlike the dominant methods that use the bird-eye view (BEV), our proposed detector…

We introduce an integrated precise LiDAR, Inertial, and Visual (LIV) multimodal sensor fused mapping system that builds on the differentiable \pre{surface splatting }\now{Gaussians} to improve the mapping fidelity, quality, and structural…

We propose FusionBERT, a novel multi-view visual fusion framework for image-3D multimodal retrieval. Existing image-3D representation learning methods predominantly focus on feature alignment of a single object image and its 3D model,…

The fusion of LiDAR and camera sensors has demonstrated significant effectiveness in achieving accurate detection for short-range tasks in autonomous driving. However, this fusion approach could face challenges when dealing with long-range…

In autonomous driving, Vehicle-Infrastructure Cooperative 3D Object Detection (VIC3D) makes use of multi-view cameras from both vehicles and traffic infrastructure, providing a global vantage point with rich semantic context of road…

Recently, camera-radar fusion-based 3D object detection methods in bird's eye view (BEV) have gained attention due to the complementary characteristics and cost-effectiveness of these sensors. Previous approaches using forward projection…

Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…

Humans naturally perceive the geometric structure and semantic content of a 3D world as intertwined dimensions, enabling coherent and accurate understanding of complex scenes. However, most prior approaches prioritize training large…

End-to-end autonomous driving has witnessed remarkable progress. However, the extensive deployment of autonomous vehicles has yet to be realized, primarily due to 1) inefficient multi-modal environment perception: how to integrate data from…

Bird's eye view (BEV) semantic segmentation plays a crucial role in spatial sensing for autonomous driving. Although recent literature has made significant progress on BEV map understanding, they are all based on single-agent camera-based…

Promising complementarity exists between the texture features of color images and the geometric information of LiDAR point clouds. However, there still present many challenges for efficient and robust feature fusion in the field of 3D…

3D instance segmentation methods typically rely on high-quality point clouds or posed RGB-D scans, requiring complex multi-stage processing pipelines, and are highly sensitive to reconstruction noise. While recent feed-forward transformers…

Infrared and visible image fusion (IVF) plays an important role in intelligent transportation system (ITS). The early works predominantly focus on boosting the visual appeal of the fused result, and only several recent approaches have tried…

Input aggregation is a simple technique used by state-of-the-art LiDAR 3D object detectors to improve detection. However, increasing aggregation is known to have diminishing returns and even performance degradation, due to objects…

Despite lagging behind their modal cousins in many respects, Vision Transformers have provided an interesting opportunity to bridge the gap between sequence modeling and image modeling. Up until now however, vision transformers have largely…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

LiDAR is crucial for robust 3D scene perception in autonomous driving. LiDAR perception has the largest body of literature after camera perception. However, multi-task learning across tasks like detection, segmentation, and motion…