相关论文: SSLFusion: Scale & Space Aligned Latent Fusion Mod…

Effective point cloud processing is crucial to LiDARbased autonomous driving systems. The capability to understand features at multiple scales is required for object detection of intelligent vehicles, where road users may appear in…

3D point clouds are rich in geometric structure information, while 2D images contain important and continuous texture information. Combining 2D information to achieve better 3D semantic segmentation has become mainstream in 3D scene…

Contemporary autonomous vehicle (AV) benchmarks have advanced techniques for training 3D detectors. While class labels naturally follow a long-tailed distribution in the real world, existing benchmarks only focus on a few common classes…

LiDAR-based 3D object detection and semantic segmentation are critical tasks in 3D scene understanding. Traditional detection and segmentation methods supervise their models through bounding box labels and semantic mask labels. However,…

In autonomous driving, recent research has increasingly focused on collaborative perception based on deep learning to overcome the limitations of individual perception systems. Although these methods achieve high accuracy, they rely on high…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…

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…

For 3D object detection, both camera and lidar have been demonstrated to be useful sensory devices for providing complementary information about the same scenery with data representations in different modalities, e.g., 2D RGB image vs 3D…

This paper presents Multi-view Labelling Object Detector (MLOD). The detector takes an RGB image and a LIDAR point cloud as input and follows the two-stage object detection framework. A Region Proposal Network (RPN) generates 3D proposals…

Robust semantic perception for autonomous vehicles relies on effectively combining multiple sensors with complementary strengths and weaknesses. State-of-the-art sensor fusion approaches to semantic perception often treat sensor data…

Imaging across both the full transverse spatial and temporal dimensions of a scene with high precision in all three coordinates is key to applications ranging from LIDAR to fluorescence lifetime imaging. However, compromises that sacrifice,…

LiDAR and camera are two modalities available for 3D semantic segmentation in autonomous driving. The popular LiDAR-only methods severely suffer from inferior segmentation on small and distant objects due to insufficient laser points, while…

Camera and LiDAR sensor modalities provide complementary appearance and geometric information useful for detecting 3D objects for autonomous vehicle applications. However, current end-to-end fusion methods are challenging to train and…

Vision-language models have been key to the development of open-vocabulary 2D semantic segmentation. Lifting these models from 2D images to 3D scenes, however, remains a challenging problem. Existing approaches typically back-project and…

Accurate and robust 3D object detection is essential for autonomous driving, where fusing data from sensors like LiDAR and camera enhances detection accuracy. However, sensor malfunctions such as corruption or disconnection can degrade…

In the field of detection and ranging, multiple complementary sensing modalities may be used to enrich the information obtained from a dynamic scene. One application of this sensor fusion is in public security and surveillance, whose…

Recent years have witnessed the increasing application of place recognition in various environments, such as city roads, large buildings, and a mix of indoor and outdoor places. This task, however, still remains challenging due to the…

Three-dimensional Object Detection from multi-view cameras and LiDAR is a crucial component for autonomous driving and smart transportation. However, in the process of basic feature extraction, perspective transformation, and feature…

Camouflaged object detection (COD) aims to identify the objects that conceal themselves in natural scenes. Accurate COD suffers from a number of challenges associated with low boundary contrast and the large variation of object appearances,…

A fundamental challenge in point cloud object detection lies in the conflict between the extreme sparsity of distant points and the need for remote context understanding. The existing methods typically use 1D serialization to expand the…