相关论文: FOMO-3D: Using Vision Foundation Models for Long-T…

Object detection is integral to a bevy of real-world applications, from robotics to medical image analysis. To be used reliably in such applications, models must be capable of handling unexpected - or novel - objects. The open world object…

Contemporary autonomous vehicle (AV) benchmarks have advanced techniques for training 3D detectors, particularly on large-scale lidar data. Surprisingly, although semantic class labels naturally follow a long-tailed distribution,…

Contemporary autonomous vehicle (AV) benchmarks have advanced techniques for training 3D detectors. While class labels naturally follow a long-tailed distribution in the real world, existing benchmarks only focus on a few common classes…

3D object detection plays a crucial role in autonomous systems, yet existing methods are limited by closed-set assumptions and struggle to recognize novel objects and their attributes in real-world scenarios. We propose OVODA, a novel…

The on-board 3D object detection technology has received extensive attention as a critical technology for autonomous driving, while few studies have focused on applying roadside sensors in 3D traffic object detection. Existing studies…

The superior performances of pre-trained foundation models in various visual tasks underscore their potential to enhance the 2D models' open-vocabulary ability. Existing methods explore analogous applications in the 3D space. However, most…

3D lane detection and topology reasoning are essential tasks in autonomous driving scenarios, requiring not only detecting the accurate 3D coordinates on lane lines, but also reasoning the relationship between lanes and traffic elements.…

3D object detection is crucial for autonomous driving, leveraging both LiDAR point clouds for precise depth information and camera images for rich semantic information. Therefore, the multi-modal methods that combine both modalities offer…

Collaborative perception plays a crucial role in enhancing environmental understanding by expanding the perceptual range and improving robustness against sensor failures, which primarily involves collaborative 3D detection and tracking…

Open-vocabulary 3D object detection (OV-3DDet) aims to localize and recognize both seen and previously unseen object categories within any new 3D scene. While language and vision foundation models have achieved success in handling various…

Tactile recognition of 3D objects remains a challenging task. Compared to 2D shapes, the complex geometry of 3D surfaces requires richer tactile signals, more dexterous actions, and more advanced encoding techniques. In this work, we…

This paper proposes novel methods to enhance the performance of monocular 3D object detection models by leveraging the generalized feature extraction capabilities of a vision foundation model. Unlike traditional CNN-based approaches, which…

Existing LiDAR 3D object detection methods predominantely rely on sparse convolutions and/or transformers, which can be challenging to run on resource-constrained edge devices, due to irregular memory access patterns and high computational…

Reliable environmental perception remains one of the main obstacles for safe operation of automated vehicles. Safety of the Intended Functionality (SOTIF) concerns safety risks from perception insufficiencies, particularly under adverse…

Accurate 3D lane estimation is crucial for ensuring safety in autonomous driving. However, prevailing monocular techniques suffer from depth loss and lighting variations, hampering accurate 3D lane detection. In contrast, LiDAR points offer…

Autonomous Vehicles (AVs) are mostly reliant on LiDAR sensors which enable spatial perception of their surroundings and help make driving decisions. Recent works demonstrated attacks that aim to hide objects from AV perception, which can…

This dissertation is a multifaceted contribution to the advancement of vision-based 3D perception technologies. In the first segment, the thesis introduces structural enhancements to both monocular and stereo 3D object detection algorithms.…

Current autonomous driving perception models primarily rely on supervised learning with predefined categories. However, these models struggle to detect general obstacles not included in the fixed category set due to their variability and…

Railway systems, particularly in Germany, require high levels of automation to address legacy infrastructure challenges and increase train traffic safely. A key component of automation is robust long-range perception, essential for early…

Recent advancements in perception for autonomous driving are driven by deep learning. In order to achieve robust and accurate scene understanding, autonomous vehicles are usually equipped with different sensors (e.g. cameras, LiDARs,…