相关论文: Mixed Precision PointPillars for Efficient 3D Obje…

Many LiDAR-based methods for detecting large objects, single-class object detection, or under easy situations were claimed to perform quite well. However, their performances of detecting small objects or under hard situations did not…

Object detection is a core component of perception systems, providing the ego vehicle with information about its surroundings to ensure safe route planning. While cameras and Lidar have significantly advanced perception systems, their…

4D radar measurements offer an affordable and weather-robust solution for 3D perception. However, the inherent sparsity and noise of radar point clouds present significant challenges for accurate 3D object detection, underscoring the need…

3D object detection is crucial for autonomous driving, leveraging both LiDAR point clouds for precise depth information and camera images for rich semantic information. Therefore, the multi-modal methods that combine both modalities offer…

Mixed-precision quantization, where a deep neural network's layers are quantized to different precisions, offers the opportunity to optimize the trade-offs between model size, latency, and statistical accuracy beyond what can be achieved…

In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…

Three-dimensional Object Detection from multi-view cameras and LiDAR is a crucial component for autonomous driving and smart transportation. However, in the process of basic feature extraction, perspective transformation, and feature…

End-to-end perception and trajectory prediction from raw sensor data is one of the key capabilities for autonomous driving. Modular pipelines restrict information flow and can amplify upstream errors. Recent query-based, fully…

Cameras and LiDARs are both important sensors for autonomous driving, playing critical roles in 3D object detection. Camera-LiDAR Fusion has been a prevalent solution for robust and accurate driving perception. In contrast to the vast…

LiDAR provides accurate geometric measurements of the 3D world. Unfortunately, dense LiDARs are very expensive and the point clouds captured by low-beam LiDAR are often sparse. To address these issues, we present UltraLiDAR, a data-driven…

This study investigates the application of PointNet and PointNet++ in the classification of LiDAR-generated point cloud data, a critical component for achieving fully autonomous vehicles. Utilizing a modified dataset from the Lyft 3D Object…

Quantization is essential for Neural Network (NN) compression, reducing model size and computational demands by using lower bit-width data types, though aggressive reduction often hampers accuracy. Mixed Precision (MP) mitigates this…

Aiming at highly accurate object detection for connected and automated vehicles (CAVs), this paper presents a Deep Neural Network based 3D object detection model that leverages a three-stage feature extractor by developing a novel…

3D object detection models that exploit both LiDAR and camera sensor features are top performers in large-scale autonomous driving benchmarks. A transformer is a popular network architecture used for this task, in which so-called object…

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance…

In autonomous systems, precise object detection and uncertainty estimation are critical for self-aware and safe operation. This work addresses confidence calibration for the classification task of 3D object detectors. We argue that it is…

Label-efficient LiDAR-based 3D object detection is currently dominated by weakly/semi-supervised methods. Instead of exclusively following one of them, we propose MixSup, a more practical paradigm simultaneously utilizing massive cheap…

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,…

Safety of the Intended Functionality (SOTIF) addresses sensor performance limitations and deep learning-based object detection insufficiencies to ensure the intended functionality of Automated Driving Systems (ADS). This paper presents a…

LiDAR (Light Detection And Ranging) is an essential and widely adopted sensor for autonomous vehicles, particularly for those vehicles operating at higher levels (L4-L5) of autonomy. Recent work has demonstrated the promise of deep-learning…