3.3 Uncertainty-Aware Fusion 四、实验结果 论文链接:SparseLIF: High-Performance Sparse LiDAR-Camera Fusion for 3D Object Detection 代码链接:暂无 作者:Hongcheng Zhang, Liu Liang, Pengxin Zeng, Xiao Song, Zhe Wang 发表单位:商汤科技、四川大学 会议/期刊:无 一、研究背景 人们提出了各种方法来彻底探索激...
目前自动驾驶场景中一般会同时使用camera和image这两种模态的数据,lidar更擅长获取准确的几何信息,camera则能提供丰富的语义信息。因此很多算法尝试将两个模态的数据融合起来实现multi-modality 3d detector。传统的fusion方法一般是将两个模态产生的信息转换到同一个特征空间进行feature fusion。如PointPainting,使用image的语义...
总的来说,DeepFusion为LiDAR-相机深度融合的多模态3D目标检测提供了一种有效的解决方案。通过充分利用LiDAR和相机的互补优势,DeepFusion能够显著提高目标检测的准确性和鲁棒性。
多模态融合: DeepFusion: Lidar-Camera Deep Fusion for Multi-Modal 3D Object Detection，这研究探讨了如何在自动驾驶领域中，通过整合激光雷达和相机数据进行三维物体检测，以提高检测精度和可靠性。面对现有技术的局限性，研究团队提出了一种创新的深度特征融合策略，旨在解决传统方法中出现的挑战，包括特征...
Autonomous vehicles can detect and recognize their surroundings by using a variety of sensors, including camera, LiDAR, or multi-sensor fusion. In the field of camera-based object detection, Sinan et al.6 investigated the image quality and the object detection accuracy rate under extremely harsh ...
多阶段融合方法以ContFusion[3]为例,相对单阶段融合,这种方法会复杂一些,主要复杂在融合特征的提取上。 融合网络结构设计 整体网络结构如上图所示,比较清晰,是一个end-to-end网络,分成了4个部分:camera特征提取(黄色区域)、特征融合(蓝色区域)、lidar特征提取(粉色区域)、检测输出(浅绿色区域)。这种设计的好处就是...
3D object Detection with LiDAR-camera encounters overfitting in algorithm development which is derived from the violation of some fundamental rules. We refer to the data annotation in dataset construction for theory complementing and argue that the regression task prediction should not involve the feature...
3D object detection, of which the goal is to obtain the 3D spatial structure information of the object, is a challenging topic in many visual perception sy... YFH Wu - 《Applied Soft Computing》 被引量: 0发表: 2021年 加载更多研究点推荐 Lidar-Camera Deep Fusion DeepFusion Multi-Modal 3D ...
While most prevalent methods progressively downscale the 3D point clouds and camera images and then fuse the high-level features, the downscaled features inevitably lose low-level detailed information. In this paper, we propose Fine-Grained Lidar-Camera Fusion (FGFusion) that make full use of ...
LiDAR-Camera Fusion Label Assignment and Losses Image-Guided Query Initialization 论文链接:arxiv.org/pdf/2203.1149 Introduction TransFusion由convolutional backbones和基于transformer decoder的detection head组成。 decoder的第一层利用object queries从点云中预测出初步的box;decoder的第二层则进一步将object queries与...