相关论文: SEF-MAP: Subspace-Decomposed Expert Fusion for Rob…

Fusing LiDAR and image features in a homogeneous BEV domain has become popular for 3D object detection in autonomous driving. However, this paradigm is constrained by the excessive feature compression. While some works explore dense voxel…

Elevation maps are commonly used to represent the environment of mobile robots and are instrumental for locomotion and navigation tasks. However, pure geometric information is insufficient for many field applications that require appearance…

LiDAR semantic segmentation is crucial for autonomous vehicles and mobile robots, requiring high accuracy and real-time processing, especially on resource-constrained embedded systems. Previous state-of-the-art methods often face a…

Multi-modal models excel in cross-modal tasks but are computationally expensive due to their billions of parameters. Parameter-efficient fine-tuning (PEFT) offers a solution by adding small trainable components while freezing pre-trained…

With the widespread adoption of millimeter-wave (mmWave) massive multi-input-multi-output (MIMO) in vehicular networks, accurate beam prediction and alignment have become critical for high-speed data transmission and reliable access. While…

Environmental perception with the multi-modal fusion of radar and camera is crucial in autonomous driving to increase accuracy, completeness, and robustness. This paper focuses on utilizing millimeter-wave (MMW) radar and camera sensor…

Multi-modal collaborative perception calls for great attention to enhancing the safety of autonomous driving. However, current multi-modal approaches remain a ``local fusion to communication'' sequence, which fuses multi-modal data locally…

Camera and 3D LiDAR sensors have become indispensable devices in modern autonomous driving vehicles, where the camera provides the fine-grained texture, color information in 2D space and LiDAR captures more precise and farther-away distance…

The technology of dynamic map fusion among networked vehicles has been developed to enlarge sensing ranges and improve sensing accuracies for individual vehicles. This paper proposes a federated learning (FL) based dynamic map fusion…

Multi-modality image fusion aims at fusing modality-specific (complementarity) and modality-shared (correlation) information from multiple source images. To tackle the problem of the neglect of inter-feature relationships, high-frequency…

Multi-modal fusion has shown initial promising results for object detection of autonomous driving perception. However, many existing fusion schemes do not consider the quality of each fusion input and may suffer from adverse conditions on…

Deep learning-based image fusion approaches have obtained wide attention in recent years, achieving promising performance in terms of visual perception. However, the fusion module in the current deep learning-based methods suffers from two…

Multi-sensor object detection is an active research topic in automated driving, but the robustness of such detection models against missing sensor input (modality missing), e.g., due to a sudden sensor failure, is a critical problem which…

We propose a compact and effective framework to fuse multimodal features at multiple layers in a single network. The framework consists of two innovative fusion schemes. Firstly, unlike existing multimodal methods that necessitate…

Robust semantic perception for autonomous vehicles relies on effectively combining multiple sensors with complementary strengths and weaknesses. State-of-the-art sensor fusion approaches to semantic perception often treat sensor data…

Multimodal object detection improves robustness in chal- lenging conditions by leveraging complementary cues from multiple sensor modalities. We introduce Filtered Multi- Modal Cross Attention Fusion (FMCAF), a preprocess- ing architecture…

Human drivers adeptly navigate complex scenarios by utilizing rich attentional semantics, but the current autonomous systems struggle to replicate this ability, as they often lose critical semantic information when converting 2D…

In this paper, we propose a novel framework for recognizing both discrete and dimensional emotions. In our framework, deep features extracted from foundation models are used as robust acoustic and visual representations of raw video. Three…

Semantic 3D mapping, the process of fusing depth and image segmentation information between multiple views to build 3D maps annotated with object classes in real-time, is a recent topic of interest. This paper highlights the fusion…

Autonomous driving for urban and highway driving applications often requires High Definition (HD) maps to generate a navigation plan. Nevertheless, various challenges arise when generating and maintaining HD maps at scale. While recent…