相关论文: FlowCalib: LiDAR-to-Vehicle Miscalibration Detecti…

Autonomous vehicles operate in highly dynamic environments necessitating an accurate assessment of which aspects of a scene are moving and where they are moving to. A popular approach to 3D motion estimation, termed scene flow, is to employ…

Fusing the camera and LiDAR information has become a de-facto standard for 3D object detection tasks. Current methods rely on point clouds from the LiDAR sensor as queries to leverage the feature from the image space. However, people…

LiDAR representation learning has emerged as a promising approach to reducing reliance on costly and labor-intensive human annotations. While existing methods primarily focus on spatial alignment between LiDAR and camera sensors, they often…

Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration of multiple lidars is challenging since the feature…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…

Accurate multi-sensor calibration is essential for deploying robust perception systems in applications such as autonomous driving and intelligent transportation. Existing LiDAR-camera calibration methods often rely on manually placed…

Advances in machine learning algorithms for sensor fusion have significantly improved the detection and prediction of other road users, thereby enhancing safety. However, even a small angular displacement in the sensor's placement can cause…

Object detection in state-of-the-art Autonomous Vehicles (AV) framework relies heavily on deep neural networks. Typically, these networks perform object detection uniformly on the entire camera LiDAR frames. However, this uniformity…

This paper presents MFCalib, an innovative extrinsic calibration technique for LiDAR and RGB camera that operates automatically in targetless environments with a single data capture. At the heart of this method is using a rich set of edge…

Learning 3D scene flow from LiDAR point clouds presents significant difficulties, including poor generalization from synthetic datasets to real scenes, scarcity of real-world 3D labels, and poor performance on real sparse LiDAR point…

In the field of autonomous driving, self-training is widely applied to mitigate distribution shifts in LiDAR-based 3D object detectors. This eliminates the need for expensive, high-quality labels whenever the environment changes (e.g.,…

Accurately localizing 3D objects like pedestrians, cyclists, and other vehicles is essential in Autonomous Driving. To ensure high detection performance, Autonomous Vehicles complement RGB cameras with LiDAR sensors, but effectively…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

The introduction of light emitting diodes (LED) in automotive exterior lighting systems provides opportunities to develop viable alternatives to conventional communication and sensing technologies. Most of the advanced driver-assist and…

Urban intersections, dense with pedestrian and vehicular traffic and compounded by GPS signal obstructions from high-rise buildings, are among the most challenging areas in urban traffic systems. Traditional single-vehicle intelligence…

Accurate and reliable sensor calibration is critical for fusing LiDAR and inertial measurements in autonomous driving. This paper proposes a novel three-stage extrinsic calibration method between LiDAR and GNSS/INS for autonomous driving.…

A misalignment of LiDAR as low as a few degrees could cause a significant error in obstacle detection and mapping that could cause safety and quality issues. In this paper, an accurate inspection system is proposed for estimating a LiDAR…

Sensor-based environmental perception is a crucial part of the autonomous driving system. In order to get an excellent perception of the surrounding environment, an intelligent system would configure multiple LiDARs (3D Light Detection and…

LiDAR and camera are two important sensors for 3D object detection in autonomous driving. Despite the increasing popularity of sensor fusion in this field, the robustness against inferior image conditions, e.g., bad illumination and sensor…