相关论文: OLiDM: Object-aware LiDAR Diffusion Models for Aut…

Conventional camera-based 3D object detectors in autonomous driving are limited to recognizing a predefined set of objects, which poses a safety risk when encountering novel or unseen objects in real-world scenarios. To address this…

LiDAR-based 3D object detection has become an essential part of automated driving due to its ability to localize and classify objects precisely in 3D. However, object detectors face a critical challenge when dealing with unknown foreground…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…

Autonomous driving has achieved rapid development over the last few decades, including the machine perception as an important issue of it. Although object detection based on conventional cameras has achieved remarkable results in 2D/3D,…

Accurately localizing 3D objects like pedestrians, cyclists, and other vehicles is essential in Autonomous Driving. To ensure high detection performance, Autonomous Vehicles complement RGB cameras with LiDAR sensors, but effectively…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

LiDAR-based 3D object detection plays a critical role for reliable and safe autonomous driving systems. However, existing detectors often produce overly confident predictions for objects not belonging to known categories, posing significant…

3D object detection is an essential part of automated driving, and deep neural networks (DNNs) have achieved state-of-the-art performance for this task. However, deep models are notorious for assigning high confidence scores to…

Monocular 3D object detection (M3OD) is a significant yet inherently challenging task in autonomous driving due to absence of explicit depth cues in a single RGB image. In this paper, we strive to boost currently underperforming monocular…

Localizing objects and estimating their extent in 3D is an important step towards high-level 3D scene understanding, which has many applications in Augmented Reality and Robotics. We present ODAM, a system for 3D Object Detection,…

In autonomous driving scenarios, accurate perception is becoming an even more critical task for safe navigation. While LiDAR provides precise spatial data, its inherent sparsity makes it difficult to detect small or distant objects.…

Autonomous driving, in recent years, has been receiving increasing attention for its potential to relieve drivers' burdens and improve the safety of driving. In modern autonomous driving pipelines, the perception system is an indispensable…

Autonomous vehicles operate in a dynamic environment, where the speed with which a vehicle can perceive and react impacts the safety and efficacy of the system. LiDAR provides a prominent sensory modality that informs many existing…

This paper presents Objectness SIMilarity (OSIM), a novel evaluation metric for 3D scenes that explicitly focuses on "objects," which are fundamental units of human visual perception. Existing metrics assess overall image quality, leading…

We propose the gradient-weighted Object Detector Activation Maps (ODAM), a visualized explanation technique for interpreting the predictions of object detectors. Utilizing the gradients of detector targets flowing into the intermediate…

The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…

In autonomous driving, 3D object detection provides more precise information for downstream tasks, including path planning and motion estimation, compared to 2D object detection. In this paper, we propose SeSame: a method aimed at enhancing…

3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…

Out-of-Distribution (OoD) segmentation is critical for safety-sensitive applications like autonomous driving. However, existing mask-based methods often suffer from boundary imprecision, inconsistent anomaly scores within objects, and false…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…