相关论文: Weather-Conditioned Branch Routing for Robust LiDA…

LiDAR-based vision systems are integral for 3D object detection, which is crucial for autonomous navigation. However, they suffer from performance degradation in adverse weather conditions due to the quality deterioration of LiDAR point…

LiDAR sensors are used in autonomous driving applications to accurately perceive the environment. However, they are affected by adverse weather conditions such as snow, fog, and rain. These everyday phenomena introduce unwanted noise into…

The challenge of 3D multi-object tracking is achieving robustness in real-world applications, for example under adverse conditions and maintaining consistency as distance increases. To overcome these challenges, sensor fusion approaches…

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…

This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…

Reliable perception is essential for autonomous driving systems to operate safely under diverse real-world traffic conditions. However, camera- and LiDAR-based perception systems suffer from performance degradation under adverse weather and…

3D single object tracking (3DSOT) in LiDAR point clouds is a critical task for outdoor perception, enabling real-time perception of object location, orientation, and motion. Despite the impressive performance of current 3DSOT methods,…

Robust 3D object detection in extreme weather and illumination conditions is a challenging task. While radars and thermal cameras are known for their resilience to these conditions, few studies have been conducted on radar-thermal fusion…

Autonomous vehicles face major perception and navigation challenges in adverse weather such as rain, fog, and snow, which degrade the performance of LiDAR, RADAR, and RGB camera sensors. While each sensor type offers unique strengths, such…

The rapid evolution of deep learning and its integration with autonomous driving systems have led to substantial advancements in 3D perception using multimodal sensors. Notably, radar sensors show greater robustness compared to cameras and…

3D object detection is a central task for applications such as autonomous driving, in which the system needs to localize and classify surrounding traffic agents, even in the presence of adverse weather. In this paper, we address the problem…

Recent developments and the beginning market introduction of high-resolution imaging 4D (3+1D) radar sensors have initialized deep learning-based radar perception research. We investigate deep learning-based models operating on radar point…

Integrating different representations from complementary sensing modalities is crucial for robust scene interpretation in autonomous driving. While deep learning architectures that fuse vision and range data for 2D object detection have…

Automated vehicles require an accurate perception of their surroundings for safe and efficient driving. Lidar-based object detection is a widely used method for environment perception, but its performance is significantly affected by…

In recent years, LiDAR-camera fusion models have markedly advanced 3D object detection tasks in autonomous driving. However, their robustness against common weather corruption such as fog, rain, snow, and sunlight in the intricate physical…

Automotive perception systems are obligated to meet high requirements. While optical sensors such as Camera and Lidar struggle in adverse weather conditions, Radar provides a more robust perception performance, effectively penetrating fog,…

4D mmWave radar provides weather-robust, velocity-aware measurements and is more cost-effective than LiDAR. However, radar-only 3D detection still trails LiDAR-based systems because radar point clouds are sparse, irregular, and often…

We propose DeepFusion, a modular multi-modal architecture to fuse lidars, cameras and radars in different combinations for 3D object detection. Specialized feature extractors take advantage of each modality and can be exchanged easily,…

Multi-sensor fusion using LiDAR and RGB cameras significantly enhances 3D object detection task. However, conventional LiDAR sensors perform dense, stateless scans, ignoring the strong temporal continuity in real-world scenes. This leads to…

Due to the difficulty of obtaining ground-truth data for 4D radar scene flow estimation, previous methods typically rely on either self-supervised losses or cross-modal supervision using 3D LiDAR data, 2D images, and odometry. However,…