相关论文: DepthFusion: Depth-Aware Hybrid Feature Fusion for…

Recent advances in 4D imaging radar have enabled robust perception in adverse weather, while camera sensors provide dense semantic information. Fusing the these complementary modalities has great potential for cost-effective 3D perception.…

Nowadays, an increasing number of works fuse LiDAR and RGB data in the bird's-eye view (BEV) space for 3D object detection in autonomous driving systems. However, existing methods suffer from over-reliance on the LiDAR branch, with…

In this paper, we propose a novel training strategy called SupFusion, which provides an auxiliary feature level supervision for effective LiDAR-Camera fusion and significantly boosts detection performance. Our strategy involves a data…

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…

3D object detection is an important task that has been widely applied in autonomous driving. To perform this task, a new trend is to fuse multi-modal inputs, i.e., LiDAR and camera. Under such a trend, recent methods fuse these two…

The rise of autonomous vehicles has significantly increased the demand for robust 3D object detection systems. While cameras and LiDAR sensors each offer unique advantages--cameras provide rich texture information and LiDAR offers precise…

Multimodal camera-LiDAR fusion technology has found extensive application in 3D object detection, demonstrating encouraging performance. However, existing methods exhibit significant performance degradation in challenging scenarios…

The combination of LiDAR and camera modalities is proven to be necessary and typical for 3D object detection according to recent studies. Existing fusion strategies tend to overly rely on the LiDAR modal in essence, which exploits the…

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…

Multimodal sensor fusion has demonstrated remarkable performance improvements over unimodal approaches in 3D object detection for autonomous vehicles. Typically, existing methods transform multimodal data from independent sensors, such as…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

LiDAR-camera fusion enhances 3D panoptic segmentation by leveraging camera images to complement sparse LiDAR scans, but it also introduces a critical failure mode. Under adverse conditions, degradation or failure of the camera sensor can…

Multi-modal 3D object detection with bird's eye view (BEV) has achieved desired advances on benchmarks. Nonetheless, the accuracy may drop significantly in the real world due to data corruption such as sensor configurations for LiDAR and…

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…

Accurate 3D object detection for autonomous driving requires complementary sensors. Cameras provide dense semantics but unreliable depth, while millimeter-wave radar offers precise range and velocity measurements with sparse geometry. We…

Multi-modal 3D object detection is important for reliable perception in robotics and autonomous driving. However, its effectiveness remains limited under adverse weather conditions due to weather-induced distortions and misalignment between…

Camouflaged object detection (COD) presents a persistent challenge in accurately identifying objects that seamlessly blend into their surroundings. However, most existing COD models overlook the fact that visual systems operate within a…

Map construction task plays a vital role in providing precise and comprehensive static environmental information essential for autonomous driving systems. Primary sensors include cameras and LiDAR, with configurations varying between…

Fusing LiDAR and image features in a homogeneous BEV domain has become popular for 3D object detection in autonomous driving. However, this paradigm is constrained by the excessive feature compression. While some works explore dense voxel…

Multi-view radar-camera fused 3D object detection provides a farther detection range and more helpful features for autonomous driving, especially under adverse weather. The current radar-camera fusion methods deliver kinds of designs to…