相关论文: RCDINO: Enhancing Radar-Camera 3D Object Detection…
While recent low-cost radar-camera approaches have shown promising results in multi-modal 3D object detection, both sensors face challenges from environmental and intrinsic disturbances. Poor lighting or adverse weather conditions degrade…
Despite the significant advancements in general image segmentation achieved by large-scale pre-trained foundation models (such as Meta's Segment Any-thing Model (SAM) series and DINOv2), their performance in specialized fields remains…
Surround-view depth estimation is a crucial task aims to acquire the depth maps of the surrounding views. It has many applications in real world scenarios such as autonomous driving, AR/VR and 3D reconstruction, etc. However, given that…
Camera and radar sensors have significant advantages in cost, reliability, and maintenance compared to LiDAR. Existing fusion methods often fuse the outputs of single modalities at the result-level, called the late fusion strategy. This can…
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.…
Camera-radar fusion offers a robust and low-cost alternative to Camera-lidar fusion for the 3D object detection task in real-time under adverse weather and lighting conditions. However, currently, in the literature, it is possible to find…
Dense 3D shape correspondence remains a central challenge in computer vision and graphics as many deep learning approaches still rely on intermediate geometric features or handcrafted descriptors, limiting their effectiveness under…
LiDAR-based 3D object detection is of paramount importance for autonomous driving. Recent trends show a remarkable improvement for bird's-eye-view (BEV) based and point-based methods as they demonstrate superior performance compared to…
Object detection using automotive radars has not been explored with deep learning models in comparison to the camera based approaches. This can be attributed to the lack of public radar datasets. In this paper, we collect a novel radar…
Reliable and weather-robust perception systems are essential for safe autonomous driving and typically employ multi-modal sensor configurations to achieve comprehensive environmental awareness. While recent automotive FMCW Radar-based…
In this work, we present an uncertainty-based method for sensor fusion with camera and radar data. The outputs of two neural networks, one processing camera and the other one radar data, are combined in an uncertainty aware manner. To this…
Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…
As a core step in structure-from-motion and SLAM, robust feature detection and description under challenging scenarios such as significant viewpoint changes remain unresolved despite their ubiquity. While recent works have identified the…
We propose LiRaFusion to tackle LiDAR-radar fusion for 3D object detection to fill the performance gap of existing LiDAR-radar detectors. To improve the feature extraction capabilities from these two modalities, we design an early fusion…
We propose a 3D object detection method for autonomous driving by fully exploiting the sparse and dense, semantic and geometry information in stereo imagery. Our method, called Stereo R-CNN, extends Faster R-CNN for stereo inputs to…
This paper aims at constructing a light-weight object detector that inputs a depth and a color image from a stereo camera. Specifically, by extending the network architecture of YOLOv3 to 3D in the middle, it is possible to output in the…
Cameras can be used to perceive the environment around the vehicle, while affordable radar sensors are popular in autonomous driving systems as they can withstand adverse weather conditions unlike cameras. However, radar point clouds are…
Object detection precision is crucial for ensuring the safety and efficacy of autonomous driving systems. The quality of acquired images directly influences the ability of autonomous driving systems to correctly recognize and respond to…
3D object detection is fundamental for safe and robust intelligent transportation systems. Current multi-modal 3D object detectors often rely on complex architectures and training strategies to achieve higher detection accuracy. However,…
Accurate detection of 3D objects is a fundamental problem in computer vision and has an enormous impact on autonomous cars, augmented/virtual reality and many applications in robotics. In this work we present a novel fusion of neural…