相关论文: HyperDet: 3D Object Detection with Hyper 4D Radar …

3D object detection is a central task for applications such as autonomous driving, in which the system needs to localize and classify surrounding traffic agents, even in the presence of adverse weather. In this paper, we address the problem…

Image sensors have been explored heavily in automotive applications for collision avoidance and varying levels of autonomy. It requires a degree of brightness, therefore, the use of an image sensor in nighttime operation or dark conditions…

LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…

Robust 3D object detection in extreme weather and illumination conditions is a challenging task. While radars and thermal cameras are known for their resilience to these conditions, few studies have been conducted on radar-thermal fusion…

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive tasks. However,…

Intelligent transportation systems require accurate and reliable sensing. However, adverse environments, such as rain, snow, and fog, can significantly degrade the performance of LiDAR and cameras. In contrast, 4D mmWave radar not only…

3D object detection in point cloud data remains a challenging task due to the sparsity and lack of global structure inherent in the input. In this work, we propose a novel Multi-Scale Attention (MSA) mechanism integrated into the 3DETR…

Conventional SLAM systems using visual or LiDAR data often struggle in poor lighting and severe weather. Although 4D radar is suited for such environments, its sparse and noisy point clouds hinder accurate odometry estimation, while the…

Good 3D object detection performance from LiDAR-Camera sensors demands seamless feature alignment and fusion strategies. We propose the 3DifFusionDet framework in this paper, which structures 3D object detection as a denoising diffusion…

3D object detection with LiDAR point clouds plays an important role in autonomous driving perception module that requires high speed, stability and accuracy. However, the existing point-based methods are challenging to reach the speed…

4D radar super-resolution, which aims to reconstruct sparse and noisy point clouds into dense and geometrically consistent representations, is a foundational problem in autonomous perception. However, existing methods often suffer from high…

3D object detection from LiDAR data for autonomous driving has been making remarkable strides in recent years. Among the state-of-the-art methodologies, encoding point clouds into a bird's eye view (BEV) has been demonstrated to be both…

As an emerging technology and a relatively affordable device, the 4D imaging radar has already been confirmed effective in performing 3D object detection in autonomous driving. Nevertheless, the sparsity and noisiness of 4D radar point…

As the previous state-of-the-art 4D radar-camera fusion-based 3D object detection method, LXL utilizes the predicted image depth distribution maps and radar 3D occupancy grids to assist the sampling-based image view transformation. However,…

For many automated driving functions, a highly accurate perception of the vehicle environment is a crucial prerequisite. Modern high-resolution radar sensors generate multiple radar targets per object, which makes these sensors particularly…

mmWave radar has been shown as an effective sensing technique in low visibility, smoke, dusty, and dense fog environment. However tapping the potential of radar sensing to reconstruct 3D object shapes remains a great challenge, due to the…

We focus on the task of far-field 3D detection (Far3Det) of objects beyond a certain distance from an observer, e.g., $>$50m. Far3Det is particularly important for autonomous vehicles (AVs) operating at highway speeds, which require…

The main challenge in 3D object detection from LiDAR point clouds is achieving real-time performance without affecting the reliability of the network. In other words, the detecting network must be confident enough about its predictions. In…

3D point clouds are essential for perceiving outdoor scenes, especially within the realm of autonomous driving. Recent advances in 3D LiDAR Object Detection focus primarily on the spatial positioning and distribution of points to ensure…