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

The paper presents a learned two-dimensional separable transform (LST) that can be considered as a new type of computational layer for constructing neural network (NN) architecture for image recognition tasks. The LST based on the idea of…

In recent years, the LiDAR images, as a 2D compact representation of 3D LiDAR point clouds, are widely applied in various tasks, e.g., 3D semantic segmentation, LiDAR point cloud compression (PCC). Among these works, the optical flow…

Camera-based multi-view 3D detection is crucial for autonomous driving. PETR and its variants (PETRs) excel in benchmarks but face deployment challenges due to high computational cost and memory footprint. Quantization is an effective…

Camera-based multi-view 3D detection is crucial for autonomous driving. PETR and its variants (PETRs) excel in benchmarks but face deployment challenges due to high computational cost and memory footprint. Quantization is an effective…

Aiming at highly accurate object detection for connected and automated vehicles (CAVs), this paper presents a Deep Neural Network based 3D object detection model that leverages a three-stage feature extractor by developing a novel…

LiDAR (Light Detection And Ranging) is an essential and widely adopted sensor for autonomous vehicles, particularly for those vehicles operating at higher levels (L4-L5) of autonomy. Recent work has demonstrated the promise of deep-learning…

We present a new way to detect 3D objects from multimodal inputs, leveraging both LiDAR and RGB cameras in a hybrid late-cascade scheme, that combines an RGB detection network and a 3D LiDAR detector. We exploit late fusion principles to…

Computing geodesic distances on 3D surfaces is fundamental to many tasks in 3D vision and geometry processing, with deep connections to tasks such as shape correspondence. Recent learning-based methods achieve strong performance but rely on…

Camera, LiDAR and radar are common perception sensors for autonomous driving tasks. Robust prediction of 3D object detection is optimally based on the fusion of these sensors. To exploit their abilities wisely remains a challenge because…

In recent years, deep neural networks (DNNs) have gained widespread adoption for continuous mobile object detection (OD) tasks, particularly in autonomous systems. However, a prevalent issue in their deployment is the one-size-fits-all…

Modern deep learning architectures excel at optimization, but only after the data has entered the network. The true bottleneck lies in preparing the right input: minimal, salient, and structured in a way that reflects the essential patterns…

With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…

Multi-sensor fusion using LiDAR and RGB cameras significantly enhances 3D object detection task. However, conventional LiDAR sensors perform dense, stateless scans, ignoring the strong temporal continuity in real-world scenes. This leads to…

Non-line-of-Sight (NLOS) imaging systems collect light at a diffuse relay surface and input this measurement into computational algorithms that output a 3D volumetric reconstruction. These algorithms utilize the Fast Fourier Transform (FFT)…

Transformers have become one of the dominant architectures in deep learning, particularly as a powerful alternative to convolutional neural networks (CNNs) in computer vision. However, Transformer training and inference in previous works…

In this work, we present a novel scheduling framework enabling anytime perception for deep neural network (DNN) based 3D object detection pipelines. We focus on computationally expensive region proposal network (RPN) and per-category…

4D mmWave radar provides weather-robust, velocity-aware measurements and is more cost-effective than LiDAR. However, radar-only 3D detection still trails LiDAR-based systems because radar point clouds are sparse, irregular, and often…

In dynamic environments, the ability to detect and track moving objects in real-time is crucial for autonomous robots to navigate safely and effectively. Traditional methods for dynamic object detection rely on high accuracy odometry and…

LiDAR-based 3D object detection is an important task for autonomous driving and current approaches suffer from sparse and partial point clouds of distant and occluded objects. In this paper, we propose a novel two-stage approach, namely…

Light detection and ranging (LiDAR) have emerged as a crucial tool for high-resolution 3D imaging, particularly in autonomous vehicles, remote sensing, and augmented reality. However, the increasing demand for faster acquisition speed and…