相关论文: RCTrans: Radar-Camera Transformer via Radar Densif…
Despite radar's popularity in the automotive industry, for fusion-based 3D object detection, most existing works focus on LiDAR and camera fusion. In this paper, we propose TransCAR, a Transformer-based Camera-And-Radar fusion solution for…
In this paper, we present a Transformer-based architecture for 3D radar object detection that uses a novel Transformer Decoder as the prediction head to directly regress 3D bounding boxes and class scores from radar feature representations.…
4D radar measurements offer an affordable and weather-robust solution for 3D perception. However, the inherent sparsity and noise of radar point clouds present significant challenges for accurate 3D object detection, underscoring the need…
4D millimeter-wave (mmWave) radar has been widely adopted in autonomous driving and robot perception due to its low cost and all-weather robustness. However, point-cloud-based radar representations suffer from information loss due to…
LiDAR and camera are two important sensors for 3D object detection in autonomous driving. Despite the increasing popularity of sensor fusion in this field, the robustness against inferior image conditions, e.g., bad illumination and sensor…
Reliable perception is essential for autonomous driving systems to operate safely under diverse real-world traffic conditions. However, camera- and LiDAR-based perception systems suffer from performance degradation under adverse weather and…
While LiDAR sensors have been successfully applied to 3D object detection, the affordability of radar and camera sensors has led to a growing interest in fusing radars and cameras for 3D object detection. However, previous radar-camera…
4D automotive radar is indispensable for autonomous driving due to its low cost and robustness, yet its point cloud sparsity challenges 3D object detection. Existing 4D radar-camera fusion methods focus on complex fusion strategies, trading…
3D object detection in point clouds is a core component for modern robotics and autonomous driving systems. A key challenge in 3D object detection comes from the inherent sparse nature of point occupancy within the 3D scene. In this paper,…
In this paper we present a novel radar-camera sensor fusion framework for accurate object detection and distance estimation in autonomous driving scenarios. The proposed architecture uses a middle-fusion approach to fuse the radar point…
Despite significant advancements in environment perception capabilities for autonomous driving and intelligent robotics, cameras and LiDARs remain notoriously unreliable in low-light conditions and adverse weather, which limits their…
We propose Radar-Camera fusion transformer (RaCFormer) to boost the accuracy of 3D object detection by the following insight. The Radar-Camera fusion in outdoor 3D scene perception is capped by the image-to-BEV transformation--if the depth…
Reliable 3D object perception is essential in autonomous driving. Owing to its sensing capabilities in all weather conditions, 4D radar has recently received much attention. However, compared to LiDAR, 4D radar provides much sparser point…
3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…
Camera and radar sensors have significant advantages in cost, reliability, and maintenance compared to LiDAR. Existing fusion methods often fuse the outputs of single modalities at the result-level, called the late fusion strategy. This can…
The awareness about moving objects in the surroundings of a self-driving vehicle is essential for safe and reliable autonomous navigation. The interpretation of LiDAR and camera data achieves exceptional results but typically requires to…
Recently, transformer networks have outperformed traditional deep neural networks in natural language processing and show a large potential in many computer vision tasks compared to convolutional backbones. In the original transformer,…
The perception of moving objects is crucial for autonomous robots performing collision avoidance in dynamic environments. LiDARs and cameras tremendously enhance scene interpretation but do not provide direct motion information and face…
3D object detection is essential in autonomous driving, providing vital information about moving objects and obstacles. Detecting objects in distant regions with only a few LiDAR points is still a challenge, and numerous strategies have…
Existing LiDAR-Camera fusion methods have achieved strong results in 3D object detection. To address the sparsity of point clouds, previous approaches typically construct spatial pseudo point clouds via depth completion as auxiliary input…