相关论文: Sparse BEV Fusion with Self-View Consistency for M…

Camera-LiDAR fusion is widely used in autonomous driving to enable accurate 3D object detection. However, bird's-eye view (BEV) fusion detectors can degrade significantly under domain shift and sensor failures, limiting reliability in…

We propose DeepFusion, a modular multi-modal architecture to fuse lidars, cameras and radars in different combinations for 3D object detection. Specialized feature extractors take advantage of each modality and can be exchanged easily,…

A significant amount of redundancy exists between consecutive frames of a video. Object detectors typically produce detections for one image at a time, without any capabilities for taking advantage of this redundancy. Meanwhile, many…

Multi-modal sensor fusion in Bird's Eye View (BEV) representation has become the leading approach for 3D object detection. However, existing methods often rely on depth estimators or transformer encoders to transform image features into BEV…

Multi-view camera-based 3D perception can be conducted using bird's eye view (BEV) features obtained through perspective view-to-BEV transformations. Several studies have shown that the performance of these 3D perception methods can be…

We propose a 3D multi-object tracking (MOT) solution using only 2D detections from monocular cameras, which automatically initiates/terminates tracks as well as resolves track appearance-reappearance and occlusions. Moreover, this approach…

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.…

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…

Modern multi-object tracking (MOT) systems usually model the trajectories by associating per-frame detections. However, when camera motion, fast motion, and occlusion challenges occur, it is difficult to ensure long-range tracking or even…

Tracking small, agile multi-objects (SMOT), such as birds, from an Unmanned Aerial Vehicle (UAV) perspective is a highly challenging computer vision task. The difficulty stems from three main sources: the extreme scarcity of target…

Small Multi-Object Tracking (SMOT) is particularly challenging when targets occupy only a few dozen pixels, rendering detection and appearance-based association unreliable. Building on the success of the MVA2023 SOD4SB challenge, this paper…

3D object detection is a common function within the perception system of an autonomous vehicle and outputs a list of 3D bounding boxes around objects of interest. Various 3D object detection methods have relied on fusion of different sensor…

Infrared and visible video fusion combines the object saliency from infrared images with the texture details from visible images to produce semantically rich fusion results. However, most existing methods are designed for static image…

The Joint Detection and Embedding (JDE) framework has achieved remarkable progress for multiple object tracking. Existing methods often employ extracted embeddings to re-establish associations between new detections and previously disrupted…

Bird's eye view (BEV) representation is a new perception formulation for autonomous driving, which is based on spatial fusion. Further, temporal fusion is also introduced in BEV representation and gains great success. In this work, we…

Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…

Video camouflaged object detection (VCOD) is challenging due to dynamic environments. Existing methods face two main issues: (1) SAM-based methods struggle to separate camouflaged object edges due to model freezing, and (2) MLLM-based…

Multi-object tracking (MOT) is a critical technology in computer vision, designed to detect multiple targets in video sequences and assign each target a unique ID per frame. Existed MOT methods excel at accurately tracking multiple objects…

Moving object detection in satellite videos (SVMOD) is a challenging task due to the extremely dim and small target characteristics. Current learning-based methods extract spatio-temporal information from multi-frame dense representation…

We consider the problem of tracking multiple, unknown, and time-varying numbers of objects using a distributed network of heterogeneous sensors. In an effort to derive a formulation for practical settings, we consider limited and unknown…