相关论文: Robust Single Object Tracking in LiDAR Point Cloud…

Direct methods have shown excellent performance in the applications of visual odometry and SLAM. In this work we propose to leverage their effectiveness for the task of 3D multi-object tracking. To this end, we propose DirectTracker, a…

Despite the success of deep learning-based object detection methods in recent years, it is still challenging to make the object detector reliable in adverse weather conditions such as rain and snow. For the robust performance of object…

Adverse weather conditions such as snow, fog, and rain pose significant challenges to LiDAR-based perception models by introducing noise and corrupting point cloud measurements. To address this issue, we propose TripleMixer, a robust and…

Compared with real-time multi-object tracking (MOT), offline multi-object tracking (OMOT) has the advantages to perform 2D-3D detection fusion, erroneous link correction, and full track optimization but has to deal with the challenges from…

Current LiDAR point cloud-based 3D single object tracking (SOT) methods typically rely on point-based representation network. Despite demonstrated success, such networks suffer from some fundamental problems: 1) It contains pooling…

Accurate LiDAR simulation is crucial for autonomous driving, especially under adverse weather conditions. Existing methods struggle to capture the complex interactions between LiDAR signals and atmospheric phenomena, leading to unrealistic…

Recently, as many studies of autonomous vehicles have been achieved for levels 4 and 5, there has been also increasing interest in the advancement of perception, decision, and control technologies, which are the three major aspects of…

Recent years have witnessed significant advancements in deep learning-based 3D object detection, leading to its widespread adoption in numerous applications. As 3D object detectors become increasingly crucial for security-critical tasks, it…

The development of safe and reliable autonomous unmanned aerial vehicles relies on the ability of the system to recognise and adapt to changes in the local environment based on sensor inputs. State-of-the-art local tracking and trajectory…

Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…

3D multi-object tracking (MOT) has witnessed numerous novel benchmarks and approaches in recent years, especially those under the "tracking-by-detection" paradigm. Despite their progress and usefulness, an in-depth analysis of their…

One of the key factors behind the recent success in visual tracking is the availability of dedicated benchmarks. While being greatly benefiting to the tracking research, existing benchmarks do not pose the same difficulty as before with…

In recent years, LiDAR-camera fusion models have markedly advanced 3D object detection tasks in autonomous driving. However, their robustness against common weather corruption such as fog, rain, snow, and sunlight in the intricate physical…

This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…

Adverse weather conditions such as haze and rain corrupt the quality of captured images, which cause detection networks trained on clean images to perform poorly on these images. To address this issue, we propose an unsupervised prior-based…

Point cloud 3D object detection has recently received major attention and becomes an active research topic in 3D computer vision community. However, recognizing 3D objects in LiDAR (Light Detection and Ranging) is still a challenge due to…

Recent multi-object tracking (MOT) systems have leveraged highly accurate object detectors; however, training such detectors requires large amounts of labeled data. Although such data is widely available for humans and vehicles, it is…

Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…

Adverse weather conditions, including snow, rain, and fog, pose a major challenge for both human and computer vision. Handling these environmental conditions is essential for safe decision making, especially in autonomous vehicles,…

Datasets for autonomous cars are essential for the development and benchmarking of perception systems. However, most existing datasets are captured with camera and LiDAR sensors in good weather conditions. In this paper, we present the…