相关论文: Multi-Modal Sensor Fusion using Hybrid Attention f…

Multi-object tracking (MOT) with camera-LiDAR fusion demands accurate results of object detection, affinity computation and data association in real time. This paper presents an efficient multi-modal MOT framework with online joint…

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…

Critical research about camera-and-LiDAR-based semantic object segmentation for autonomous driving significantly benefited from the recent development of deep learning. Specifically, the vision transformer is the novel ground-breaker that…

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…

High-definition (HD) maps are essential for autonomous driving, yet multi-modal fusion often suffers from inconsistency between camera and LiDAR modalities, leading to performance degradation under low-light conditions, occlusions, or…

Bird's-Eye View (BEV) features are popular intermediate scene representations shared by the 3D backbone and the detector head in LiDAR-based object detectors. However, little research has been done to investigate how to incorporate…

In this paper, we propose a novel and effective Multi-Level Fusion network, named as MLF-DET, for high-performance cross-modal 3D object DETection, which integrates both the feature-level fusion and decision-level fusion to fully utilize…

3D object detection is an important task that has been widely applied in autonomous driving. To perform this task, a new trend is to fuse multi-modal inputs, i.e., LiDAR and camera. Under such a trend, recent methods fuse these two…

Bird's eye view (BEV) semantic segmentation plays a crucial role in spatial sensing for autonomous driving. Although recent literature has made significant progress on BEV map understanding, they are all based on single-agent camera-based…

In autonomous driving, multi-modal perception tasks like 3D object detection typically rely on well-synchronized sensors, both at training and inference. However, despite the use of hardware- or software-based synchronization algorithms,…

In autonomous driving, transparency in the decision-making of perception models is critical, as even a single misperception can be catastrophic. Yet with multi-sensor inputs, it is difficult to determine how each modality contributes to a…

In this research, we propose a new 3D object detector with a trustworthy depth estimation, dubbed BEVDepth, for camera-based Bird's-Eye-View (BEV) 3D object detection. Our work is based on a key observation -- depth estimation in recent…

Object detection is a core component of perception systems, providing the ego vehicle with information about its surroundings to ensure safe route planning. While cameras and Lidar have significantly advanced perception systems, their…

Detecting objects from LiDAR point clouds is of tremendous significance in autonomous driving. In spite of good progress, accurate and reliable 3D detection is yet to be achieved due to the sparsity and irregularity of LiDAR point clouds.…

In autonomous driving, recent research has increasingly focused on collaborative perception based on deep learning to overcome the limitations of individual perception systems. Although these methods achieve high accuracy, they rely on high…

Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…

Achieving robust and real-time 3D perception is fundamental for autonomous vehicles. While most existing 3D perception methods prioritize detection accuracy, they often overlook critical aspects such as computational efficiency, onboard…

In this paper, we introduce Semi-SMD, a novel metric depth estimation framework tailored for surrounding cameras equipment in autonomous driving. In this work, the input data consists of adjacent surrounding frames and camera parameters. We…

Given the wide adoption of multimodal sensors (e.g., camera, lidar, radar) by autonomous vehicles (AVs), deep analytics to fuse their outputs for a robust perception become imperative. However, existing fusion methods often make two…

Motion estimation approaches typically employ sensor fusion techniques, such as the Kalman Filter, to handle individual sensor failures. More recently, deep learning-based fusion approaches have been proposed, increasing the performance and…