相关论文: CLLAP: Contrastive Learning-based LiDAR-Augmented …

Unsupervised 3D representation learning reduces the burden of labeling multimodal 3D data for fusion perception tasks. Among different pre-training paradigms, differentiable-rendering-based methods have shown most promise. However, existing…

Camera and radar sensors have significant advantages in cost, reliability, and maintenance compared to LiDAR. Existing fusion methods often fuse the outputs of single modalities at the result-level, called the late fusion strategy. This can…

Leveraging pre-trained 2D image representations in behavior cloning policies has achieved great success and has become a standard approach for robotic manipulation. However, such representations fail to capture the 3D spatial information…

In this paper, we propose a novel training strategy called SupFusion, which provides an auxiliary feature level supervision for effective LiDAR-Camera fusion and significantly boosts detection performance. Our strategy involves a data…

Recently, 3D object detection algorithms based on radar and camera fusion have shown excellent performance, setting the stage for their application in autonomous driving perception tasks. Existing methods have focused on dealing with…

LiDAR-camera fusion is one of the core processes for the perception system of current automated driving systems. The typical sensor fusion process includes a list of coordinate transformation operations following system calibration.…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

In recent years, driven by the need for safer and more autonomous transport systems, the automotive industry has shifted toward integrating a growing number of Advanced Driver Assistance Systems (ADAS). Among the array of sensors employed…

LiDAR and Radar are two complementary sensing approaches in that LiDAR specializes in capturing an object's 3D shape while Radar provides longer detection ranges as well as velocity hints. Though seemingly natural, how to efficiently…

Recently, camera-radar fusion-based 3D object detection methods in bird's eye view (BEV) have gained attention due to the complementary characteristics and cost-effectiveness of these sensors. Previous approaches using forward projection…

Generalist Vision-Language-Action models are currently hindered by the scarcity of robotic data compared to the abundance of human video demonstrations. Existing Latent Action Models attempt to leverage video data but often suffer from…

In the realm of autonomous driving, accurate 3D perception is the foundation. However, developing such models relies on extensive human annotations -- a process that is both costly and labor-intensive. To address this challenge from a data…

This paper introduces a novel self-supervised learning framework for enhancing 3D perception in autonomous driving scenes. Specifically, our approach, namely NCLR, focuses on 2D-3D neural calibration, a novel pretext task that estimates the…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

Cameras and LiDARs are both important sensors for autonomous driving, playing critical roles in 3D object detection. Camera-LiDAR Fusion has been a prevalent solution for robust and accurate driving perception. In contrast to the vast…

The combination of LiDAR and camera modalities is proven to be necessary and typical for 3D object detection according to recent studies. Existing fusion strategies tend to overly rely on the LiDAR modal in essence, which exploits the…

As the previous state-of-the-art 4D radar-camera fusion-based 3D object detection method, LXL utilizes the predicted image depth distribution maps and radar 3D occupancy grids to assist the sampling-based image view transformation. However,…

3D perception in LiDAR point clouds is crucial for a self-driving vehicle to properly act in 3D environment. However, manually labeling point clouds is hard and costly. There has been a growing interest in self-supervised pre-training of 3D…

Camera and LiDAR serve as informative sensors for accurate and robust autonomous driving systems. However, these sensors often exhibit heterogeneous natures, resulting in distributional modality gaps that present significant challenges for…

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…