相关论文: calibfusion: Transformer-Based Differentiable Cali…

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…

In autonomous systems, sensor calibration is essential for safe and efficient navigation in dynamic environments. Accurate calibration is a prerequisite for reliable perception and planning tasks such as object detection and obstacle…

In this paper we present a novel radar-camera sensor fusion framework for accurate object detection and distance estimation in autonomous driving scenarios. The proposed architecture uses a middle-fusion approach to fuse the radar point…

Lidars and cameras play essential roles in autonomous driving, offering complementary information for 3D detection. The state-of-the-art fusion methods integrate them at the feature level, but they mostly rely on the learned soft…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While most prevalent methods progressively downscale the 3D point clouds and camera images and then fuse the high-level…

Reliable 3D object detection is fundamental to autonomous driving, and multimodal fusion algorithms using cameras and LiDAR remain a persistent challenge. Cameras provide dense visual cues but ill posed depth; LiDAR provides a precise 3D…

Goal-conditioned navigation models for ground robots trained using supervised learning show promising zero-shot transfer, but their collision-avoidance capability nevertheless degrades under distribution shift, i.e. environmental, robot or…

With autonomous driving developing in a booming stage, accurate object detection in complex scenarios attract wide attention to ensure the safety of autonomous driving. Millimeter wave (mmWave) radar and vision fusion is a mainstream…

Robots often rely on RGB images for tasks like manipulation and navigation. However, reliable interaction typically requires a 3D scene representation that is metric-scaled and aligned with the robot reference frame. This depends on…

Sensor fusion is crucial for an accurate and robust perception system on autonomous vehicles. Most existing datasets and perception solutions focus on fusing cameras and LiDAR. However, the collaboration between camera and radar is…

LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…

4D imaging radar is a type of low-cost millimeter-wave radar(costing merely 10-20$\%$ of lidar systems) capable of providing range, azimuth, elevation, and Doppler velocity information. Accurate extrinsic calibration between millimeter-wave…

Robust object detection for Unmanned Surface Vehicles (USVs) in complex water environments is essential for reliable navigation and operation. Specifically, water surface object detection faces challenges from blurred edges and diverse…

Radar and camera fusion yields robustness in perception tasks by leveraging the strength of both sensors. The typical extracted radar point cloud is 2D without height information due to insufficient antennas along the elevation axis, which…

Optical flow estimation has achieved promising results in conventional scenes but faces challenges in high-speed and low-light scenes, which suffer from motion blur and insufficient illumination. These conditions lead to weakened texture…

Millimeter-wave radar enables robust environment perception in autonomous systems under adverse conditions yet suffers from sparse, noisy point clouds with low angular resolution. Existing diffusion-based radar enhancement methods either…

This paper proposes a depth estimation method using radar-image fusion by addressing the uncertain vertical directions of sparse radar measurements. In prior radar-image fusion work, image features are merged with the uncertain sparse…

Place recognition plays a crucial role in the fields of robotics and computer vision, finding applications in areas such as autonomous driving, mapping, and localization. Place recognition identifies a place using query sensor data and a…

In multimodal perception systems, achieving precise extrinsic calibration between LiDAR and camera is of critical importance. Previous calibration methods often required specific targets or manual adjustments, making them both…