相关论文: CVCP-Fusion: On Implicit Depth Estimation for 3D B…

Accurate and robust 3D object detection is essential for autonomous driving, where fusing data from sensors like LiDAR and camera enhances detection accuracy. However, sensor malfunctions such as corruption or disconnection can degrade…

It has been well recognized that fusing the complementary information from depth-aware LiDAR point clouds and semantic-rich stereo images would benefit 3D object detection. Nevertheless, it is not trivial to explore the inherently unnatural…

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…

Conventional tracking paradigm takes in instantaneous measurements such as range and bearing, and produces object tracks across time. In applications such as autonomous driving, lidar measurements in the form of point clouds are usually…

Detecting diverse objects within complex indoor 3D point clouds presents significant challenges for robotic perception, particularly with varied object shapes, clutter, and the co-existence of static and dynamic elements where traditional…

In this paper, we address the problem of detecting 3D objects from multi-view images. Current query-based methods rely on global 3D position embeddings (PE) to learn the geometric correspondence between images and 3D space. We claim that…

At present, the anchor-based or anchor-free models that use LiDAR point clouds for 3D object detection use the center assigner strategy to infer the 3D bounding boxes. However, in a real world scene, the LiDAR can only acquire a limited…

In air-ground collaboration scenarios without GPS and prior maps, the relative positioning of drones and unmanned ground vehicles (UGVs) has always been a challenge. For a drone equipped with monocular camera and an UGV equipped with LiDAR…

Lidar point cloud distortion from moving object is an important problem in autonomous driving, and recently becomes even more demanding with the emerging of newer lidars, which feature back-and-forth scanning patterns. Accurately estimating…

Current 3D single object tracking approaches track the target based on a feature comparison between the target template and the search area. However, due to the common occlusion in LiDAR scans, it is non-trivial to conduct accurate feature…

Localizing objects in 3D space and understanding their associated 3D properties is challenging given only monocular RGB images. The situation is compounded by the loss of depth information during perspective projection. We present Center3D,…

Wide-range and fine-grained vehicle detection plays a critical role in enabling active safety features in intelligent driving systems. However, existing vehicle detection methods based on rectangular bounding boxes (BBox) often struggle…

Many LiDAR-based methods for detecting large objects, single-class object detection, or under easy situations were claimed to perform quite well. However, their performances of detecting small objects or under hard situations did not…

We address the problem of reconstructing 3D surfaces from depth and surface normal maps acquired by a sensor system based on a single perspective camera. Depth and normal maps can be obtained through techniques such as structured-light…

Determining accurate bird's eye view (BEV) positions of objects and tracks in a scene is vital for various perception tasks including object interactions mapping, scenario extraction etc., however, the level of supervision required to…

With the advent of autonomous vehicles, LiDAR and cameras have become an indispensable combination of sensors. They both provide rich and complementary data which can be used by various algorithms and machine learning to sense and make…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

In this paper, we introduce a novel fusion method that can enhance object detection performance by fusing decisions from two different types of computer vision tasks: object detection and image classification. In the proposed work, the…

Although significant progress has been made, achieving place recognition in environments with perspective changes, seasonal variations, and scene transformations remains challenging. Relying solely on perception information from a single…

Accurate detection of obstacles in 3D is an essential task for autonomous driving and intelligent transportation. In this work, we propose a general multimodal fusion framework FusionPainting to fuse the 2D RGB image and 3D point clouds at…