相关论文: RETR: Multi-View Radar Detection Transformer for I…

The Bird-Eye-View (BEV) is one of the most widely-used scene representations for visual perception in Autonomous Vehicles (AVs) due to its well suited compatibility to downstream tasks. For the enhanced safety of AVs, modeling perception…

One-to-one set matching is a key design for DETR to establish its end-to-end capability, so that object detection does not require a hand-crafted NMS (non-maximum suppression) to remove duplicate detections. This end-to-end signature is…

DETR accomplishes end-to-end object detection through iteratively generating multiple object candidates based on image features and promoting one candidate for each ground-truth object. The traditional training procedure using one-to-one…

Multiple-input multiple-output (MIMO) radar is one of the leading depth sensing modalities. However, the usage of multiple receive channels lead to relative high costs and prevent the penetration of MIMOs in many areas such as the…

3D reconstruction of a scene from Synthetic Aperture Radar (SAR) images mainly relies on interferometric measurements, which involve strict constraints on the acquisition process. These last years, progress in deep learning has…

3D object detection is a significant task for autonomous driving. Recently with the progress of vision transformers, the 2D object detection problem is being treated with the set-to-set loss. Inspired by these approaches on 2D object…

The recently developed DEtection TRansformer (DETR) establishes a new object detection paradigm by eliminating a series of hand-crafted components. However, DETR suffers from extremely slow convergence, which increases the training cost…

Due to the robustness in sensing, radar has been highlighted, overcoming harsh weather conditions such as fog and heavy snow. In this paper, we present a novel radar-only place recognition that measures the similarity score by utilizing…

In automotive systems, a radar is a key component of autonomous driving. Using transmit and reflected radar signal by a target, we can capture the target range and velocity. However, when interference signals exist, noise floor increases…

Monocular Metric Depth Estimation (MMDE) is essential for physically intelligent systems, yet accurate depth estimation for underrepresented classes in complex scenes remains a persistent challenge. To address this, we propose RAD, a…

Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…

For high resolution scene mapping and object recognition, optical technologies such as cameras and LiDAR are the sensors of choice. However, for robust future vehicle autonomy and driver assistance in adverse weather conditions,…

Re-identification (ReID) is a critical challenge in computer vision, predominantly studied in the context of pedestrians and vehicles. However, robust object-instance ReID, which has significant implications for tasks such as autonomous…

Different objects in the same scene are more or less related to each other, but only a limited number of these relationships are noteworthy. Inspired by DETR, which excels in object detection, we view scene graph generation as a set…

We present Recurrent Vision Transformers (RVTs), a novel backbone for object detection with event cameras. Event cameras provide visual information with sub-millisecond latency at a high-dynamic range and with strong robustness against…

Detection Transformers (DETR) are increasingly adopted in autonomous vehicle (AV) perception systems due to their superior accuracy over convolutional networks. However, concurrently executing multiple DETR tasks presents significant…

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…

Radar has gained much attention in autonomous driving due to its accessibility and robustness. However, its standalone application for depth perception is constrained by issues of sparsity and noise. Radar-camera depth estimation offers a…

Object Re-identification (Re-ID) aims to identify specific objects across different times and scenes, which is a widely researched task in computer vision. For a prolonged period, this field has been predominantly driven by deep learning…

We present NeRF-Det, a novel method for indoor 3D detection with posed RGB images as input. Unlike existing indoor 3D detection methods that struggle to model scene geometry, our method makes novel use of NeRF in an end-to-end manner to…