相关论文: ModalPatch: A Plug-and-Play Module for Robust Mult…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…

Despite the success of deep learning in close-set 3D object detection, existing approaches struggle with zero-shot generalization to novel objects and camera configurations. We introduce DetAny3D, a promptable 3D detection foundation model…

Multi-object tracking (MOT) predominantly follows the tracking-by-detection paradigm, where Kalman filters serve as the standard motion predictor due to computational efficiency but inherently fail on non-linear motion patterns. Conversely,…

In the field of autonomous driving or robotics, simultaneous localization and mapping (SLAM) and multi-object tracking (MOT) are two fundamental problems and are generally applied separately. Solutions to SLAM and MOT usually rely on…

The purpose of multi-object tracking (MOT) is to continuously track and identify objects detected in videos. Currently, most methods for multi-object tracking model the motion information and combine it with appearance information to…

Accurately distinguishing each object is a fundamental goal of Multi-object tracking (MOT) algorithms. However, achieving this goal still remains challenging, primarily due to: (i) For crowded scenes with occluded objects, the high overlap…

Multi-modal 3D object understanding has gained significant attention, yet current approaches often assume complete data availability and rigid alignment across all modalities. We present CrossOver, a novel framework for cross-modal 3D scene…

In this paper, we propose a robust 3D detector, named Cross Modal Transformer (CMT), for end-to-end 3D multi-modal detection. Without explicit view transformation, CMT takes the image and point clouds tokens as inputs and directly outputs…

Tracking of objects in 3D is a fundamental task in computer vision that finds use in a wide range of applications such as autonomous driving, robotics or augmented reality. Most recent approaches for 3D multi object tracking (MOT) from…

Due to the challenges of processing temporal information, most trackers depend solely on visual discriminability and overlook the unique temporal coherence of video data. In this paper, we propose a lightweight and plug-and-play motion…

Multi-modal embeddings form the foundation for vision-language models, such as CLIP embeddings, the most widely used text-image embeddings. However, these embeddings are vulnerable to subtle misalignment of cross-modal features, resulting…

Multi-modal learning has shown exceptional performance in various tasks, especially in medical applications, where it integrates diverse medical information for comprehensive diagnostic evidence. However, there still are several challenges…

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…

LiDAR-camera 3D multi-object tracking (MOT) combines rich visual semantics with accurate depth cues to improve trajectory consistency and tracking reliability. In practice, however, LiDAR and cameras operate at different sampling rates. To…

Infrared-visible object detection aims to achieve robust even full-day object detection by fusing the complementary information of infrared and visible images. However, highly dynamically variable complementary characteristics and commonly…

3D Multi-Object Tracking (MOT) is an important part of the unmanned vehicle perception module. Most methods optimize object detection and data association independently. These methods make the network structure complicated and limit the…

This paper presents a novel multi-modal Multi-Object Tracking (MOT) algorithm for self-driving cars that combines camera and LiDAR data. Camera frames are processed with a state-of-the-art 3D object detector, whereas classical clustering…

Robust 6D pose estimation of novel objects under challenging illumination remains a significant challenge, often requiring a trade-off between accurate initial pose estimation and efficient real-time tracking. We present a unified framework…

Mapping and 3D detection are two major issues in vision-based robotics, and self-driving. While previous works only focus on each task separately, we present an innovative and efficient multi-task deep learning framework (SM3D) for…