相关论文: LiFT: Lightweight, FPGA-tailored 3D object detecti…

It is laborious to manually label point cloud data for training high-quality 3D object detectors. This work proposes a weakly supervised approach for 3D object detection, only requiring a small set of weakly annotated scenes, associated…

Recently, linear complexity sequence modeling networks have achieved modeling capabilities similar to Vision Transformers on a variety of computer vision tasks, while using fewer FLOPs and less memory. However, their advantage in terms of…

Computational imaging enables compact infrared systems, but deep-learning pipelines that combine image reconstruction and object detection often introduce substantial inference latency. Most existing acceleration strategies compress the…

Transformer is leading a trend in the field of image processing. Despite the great success that existing lightweight image processing transformers have achieved, they are tailored to FLOPs or parameters reduction, rather than practical…

Accurate calibration of internal parameters is a crucial yet challenging prerequisite for 3D reconstruction using light field cameras. In this paper, we propose a linear fractional transformation(LFT) parameter $\alpha$ to decoupled the…

Obstacle detection is one of the basic tasks of a robot movement in an unknown environment. The use of a LiDAR (Light Detection And Ranging) sensor allows one to obtain a point cloud in the vicinity of the sensor. After processing this…

Accurate 3D object detection with LiDAR is critical for autonomous driving. Existing research is all based on the flat-world assumption. However, the actual road can be complex with steep sections, which breaks the premise. Current methods…

Multi-object tracking (MOT) has important applications in monitoring, logistics, and other fields. This paper develops a real-time multi-object tracking and prediction system in rugged environments. A 3D object detection algorithm based on…

In the domain of computer vision, multi-scale feature extraction is vital for tasks such as salient object detection. However, achieving this capability in lightweight networks remains challenging due to the trade-off between efficiency and…

This paper presents a novel 3D object detection framework that processes LiDAR data directly on its native representation: range images. Benefiting from the compactness of range images, 2D convolutions can efficiently process dense LiDAR…

We propose a late-to-early recurrent feature fusion scheme for 3D object detection using temporal LiDAR point clouds. Our main motivation is fusing object-aware latent embeddings into the early stages of a 3D object detector. This feature…

This paper presents the FPGA design of a convolutional neural network (CNN) based road segmentation algorithm for real-time processing of LiDAR data. For autonomous vehicles, it is important to perform road segmentation and obstacle…

- Both Lidars and Radars are sensors for obstacle detection. While Lidars are very accurate on obstacles positions and less accurate on their velocities, Radars are more precise on obstacles velocities and less precise on their positions.…

Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…

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…

Intrusion detection systems (IDS) for the Internet of Things (IoT) systems can use AI-based models to ensure secure communications. IoT systems tend to have many connected devices producing massive amounts of data with high dimensionality,…

This paper introduces FaceLiVT, a lightweight yet powerful face recognition model that integrates a hybrid Convolution Neural Network (CNN)-Transformer architecture with an innovative and lightweight Multi-Head Linear Attention (MHLA)…

Feature extraction and matching are the basic parts of many robotic vision tasks, such as 2D or 3D object detection, recognition, and registration. As is known, 2D feature extraction and matching have already achieved great success.…

How can we accurately quantize a pre-trained Vision Transformer model? Quantization algorithms compress Vision Transformers (ViTs) into low-bit formats, reducing memory and computation demands with minimal accuracy degradation. However,…

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…