相关论文: Rethink 3D Object Detection from Physical World

Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…

Object detection through either RGB images or the LiDAR point clouds has been extensively explored in autonomous driving. However, it remains challenging to make these two data sources complementary and beneficial to each other. In this…

Diffusion models have demonstrated strong capabilities for modeling human-like driving behaviors in autonomous driving, but their iterative sampling process induces substantial latency, and operating directly on raw trajectory points forces…

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…

This paper presents novel hybrid architectures that combine grid- and point-based processing to improve the detection performance and orientation estimation of radar-based object detection networks. Purely grid-based detection models…

While separately leveraging monocular 3D object detection and 2D multi-object tracking can be straightforwardly applied to sequence images in a frame-by-frame fashion, stand-alone tracker cuts off the transmission of the uncertainty from…

In this paper we describe a framework towards computing well-localized, robust motion plans through the perception-aware motion planning problem, whereby we seek a low-cost motion plan subject to a separate constraint on perception…

Autonomous Vehicles (AVs) use natural images and videos as input to understand the real world by overlaying and inferring digital elements, facilitating proactive detection in an effort to assure safety. A crucial aspect of this process is…

In vision-enabled autonomous systems such as robots and autonomous cars, video object detection plays a crucial role, and both its speed and accuracy are important factors to provide reliable operation. The key insight we show in this paper…

This paper tackles the 3D object detection problem, which is of vital importance for applications such as autonomous driving. Our framework uses a Machine Learning (ML) pipeline on a combination of monocular camera and LiDAR data to detect…

While current 3D object recognition research mostly focuses on the real-time, onboard scenario, there are many offboard use cases of perception that are largely under-explored, such as using machines to automatically generate high-quality…

Object detection is a crucial component in autonomous vehicle systems. It enables the vehicle to perceive and understand its environment by identifying and locating various objects around it. By utilizing advanced imaging and deep learning…

LiDAR-based 3D object detection has become an essential part of automated driving due to its ability to localize and classify objects precisely in 3D. However, object detectors face a critical challenge when dealing with unknown foreground…

Recently, we have witnessed the rise of novel ``event-based'' camera sensors for high-speed, low-power video capture. Rather than recording discrete image frames, these sensors output asynchronous ``event'' tuples with microsecond…

The curation of large-scale datasets is still costly and requires much time and resources. Data is often manually labeled, and the challenge of creating high-quality datasets remains. In this work, we fill the research gap using active…

Object detection remains as one of the most notorious open problems in computer vision. Despite large strides in accuracy in recent years, modern object detectors have started to saturate on popular benchmarks raising the question of how…

Generative image models are increasingly being used for training data augmentation in vision tasks. In the context of automotive object detection, methods usually focus on producing augmented frames that look as realistic as possible, for…

The static world assumption is standard in most simultaneous localisation and mapping (SLAM) algorithms. Increased deployment of autonomous systems to unstructured dynamic environments is driving a need to identify moving objects and…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

In this paper, we aim to design an efficient real-time object detector that exceeds the YOLO series and is easily extensible for many object recognition tasks such as instance segmentation and rotated object detection. To obtain a more…