相关论文: UniBEVFusion: Unified Radar-Vision BEVFusion for 3…
Besides standard cameras, autonomous vehicles typically include multiple additional sensors, such as lidars and radars, which help acquire richer information for perceiving the content of the driving scene. While several recent works focus…
4D millimeter-wave radar has emerged as a promising sensing modality for autonomous driving due to its robustness and affordability. However, its sparse and weak geometric cues make reliable instance activation difficult, limiting the…
Millimeter-wave (mmWave) radar has attracted significant attention in robotics and autonomous driving. However, despite the perception stability in harsh environments, the point cloud generated by mmWave radar is relatively sparse while…
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…
Radar and camera fusion yields robustness in perception tasks by leveraging the strength of both sensors. The typical extracted radar point cloud is 2D without height information due to insufficient antennas along the elevation axis, which…
Multi-modal fusion is imperative to the implementation of reliable object detection and tracking in complex environments. Exploiting the synergy of heterogeneous modal information endows perception systems the ability to achieve more…
3D object detection is an important task that has been widely applied in autonomous driving. To perform this task, a new trend is to fuse multi-modal inputs, i.e., LiDAR and camera. Under such a trend, recent methods fuse these two…
Millimeter wave (mmWave) radars have attracted significant attention from both academia and industry due to their capability to operate in extreme weather conditions. However, they face challenges in terms of sparsity and noise…
Recent advancements in 3D object detection have benefited from multi-modal information from the multi-view cameras and LiDAR sensors. However, the inherent disparities between the modalities pose substantial challenges. We observe that…
Millimeter-wave (mmWave) Radar--Camera fusion improves perception under adverse illumination and weather, but its performance is sensitive to Radar--Camera extrinsic calibration: residual misalignment biases Radar-to-image projection and…
Multi-UAV collaborative 3D object detection can perceive and comprehend complex environments by integrating complementary information, with applications encompassing traffic monitoring, delivery services and agricultural management.…
Recent work on 3D object detection advocates point cloud voxelization in birds-eye view, where objects preserve their physical dimensions and are naturally separable. When represented in this view, however, point clouds are sparse and have…
Multimodal 3D object detection has garnered considerable interest in autonomous driving. However, multimodal detectors suffer from dimension mismatches that derive from fusing 3D points with 2D pixels coarsely, which leads to sub-optimal…
Recent multimodal fusion methods, integrating images with LiDAR point clouds, have shown promise in scene flow estimation. However, the fusion of 4D millimeter wave radar and LiDAR remains unexplored. Unlike LiDAR, radar is cheaper, more…
The unique cost, flexibility, speed, and efficiency of modern UAVs make them an attractive choice in many applications in contemporary society. This, however, causes an ever-increasing number of reported malicious or accidental incidents,…
Robust 3D object detection in adverse weather is highly challenging due to the varying reliability of different sensors. While existing LiDAR-4D radar fusion methods improve robustness, they predominantly rely on fixed or weakly adaptive…
The use of multimodal imaging has led to significant improvements in the diagnosis and treatment of many diseases. Similar to clinical practice, some works have demonstrated the benefits of multimodal fusion for automatic segmentation and…
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…
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…
Collaborative visual perception methods have gained widespread attention in the autonomous driving community in recent years due to their ability to address sensor limitation problems. However, the absence of explicit depth information…