相关论文: SFGFusion: Surface Fitting Guided 3D Object Detect…

Multi-modal 3D object detection has exhibited significant progress in recent years. However, most existing methods can hardly scale to long-range scenarios due to their reliance on dense 3D features, which substantially escalate…

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…

Infrared and visible image fusion has garnered considerable attention owing to the strong complementarity of these two modalities in complex, harsh environments. While deep learning-based fusion methods have made remarkable advances in…

Sensor fusion is crucial for an accurate and robust perception system on autonomous vehicles. Most existing datasets and perception solutions focus on fusing cameras and LiDAR. However, the collaboration between camera and radar is…

Reliable autonomous driving systems require accurate detection of traffic participants. To this end, multi-modal fusion has emerged as an effective strategy. In particular, 4D radar and LiDAR fusion methods based on multi-frame radar point…

Autonomous vehicles are heavily reliant upon their sensors to perfect the perception of surrounding environments, however, with the current state of technology, the data which a vehicle uses is confined to that from its own sensors. Data…

Combining LiDAR and Camera-view data has become a common approach for 3D Object Detection. However, previous approaches combine the two input streams at a point-level, throwing away semantic information derived from camera features. In this…

Place recognition plays a crucial role in the fields of robotics and computer vision, finding applications in areas such as autonomous driving, mapping, and localization. Place recognition identifies a place using query sensor data and a…

Recent developments and the beginning market introduction of high-resolution imaging 4D (3+1D) radar sensors have initialized deep learning-based radar perception research. We investigate deep learning-based models operating on radar point…

The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…

Multi-modal fusion is imperative to the implementation of reliable object detection and tracking in complex environments. Exploiting the synergy of heterogeneous modal information endows perception systems the ability to achieve more…

LiDAR and cameras are complementary sensors for 3D object detection in autonomous driving. However, it is challenging to explore the unnatural interaction between point clouds and images, and the critical factor is how to conduct feature…

Camera-based 3D object detection and tracking are central to autonomous driving, yet precise 3D object localization remains fundamentally constrained by depth ambiguity when no expensive, depth-rich online LiDAR is available at inference.…

This paper aims at high-accuracy 3D object detection in autonomous driving scenario. We propose Multi-View 3D networks (MV3D), a sensory-fusion framework that takes both LIDAR point cloud and RGB images as input and predicts oriented 3D…

In autonomous driving, camera-radar fusion offers complementary sensing and low deployment cost. Existing methods perform fusion through input mixing, feature map mixing, or query-based feature sampling. We propose a new fusion paradigm,…

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…

Due to the trending need of building autonomous robotic perception system, sensor fusion has attracted a lot of attention amongst researchers and engineers to make best use of cross-modality information. However, in order to build a robotic…

Place recognition is essential for achieving closed-loop or global positioning in autonomous vehicles and mobile robots. Despite recent advancements in place recognition using 2D cameras or 3D LiDAR, it remains to be seen how to use 4D…

The perception of autonomous vehicles has to be efficient, robust, and cost-effective. However, cameras are not robust against severe weather conditions, lidar sensors are expensive, and the performance of radar-based perception is still…

In cooperative perception studies, there is often a trade-off between communication bandwidth and perception performance. While current feature fusion solutions are known for their excellent object detection performance, transmitting the…