代码路径:samples/ai_toolchain/horizon_model_train_sample/scripts/configs/lidar_bevfusion/bevfusion_pointpillar_henet_multisensor_multitask_nuscenes.py 4.2.2 LiDAR 流 公版BEVFusion 采用了当前流行的 3 种激光点云检测模型 PointPillars , CenterPoint 和 TransFusion 作为 LiDAR 流来展示框架的通用性。BEVFu...
代码路径:samples/ai_toolchain/horizon_model_train_sample/scripts/configs/lidar_bevfusion/bevfusion_pointpillar_henet_multisensor_multitask_nuscenes.py 4.2.2 LiDAR 流 公版BEVFusion 采用了当前流行的 3 种激光点云检测模型 PointPillars , CenterPoint 和 TransFusion 作为 LiDAR 流来展示框架的通用性。BEVFu...
BEVFusion 就是典型的中融合方法,其存在两个独立流,将来自相机和 LiDAR 的原始输入编码为同一个 BEV 空间。由于是通用的融合框架,相机流和 LiDAR 流的方法都可以自由选择,在 nuScenes 数据集表现出了很强的泛化能力。本文将介绍 BEVFusion 在地平线 J6E/M 平台上的优化部署。 2.性能精度指标 模型参数: 模型...
Bai X, Hu Z, Zhu X, Huang Q, Chen Y, Fu H, Tai CL (2022) Transfusion: Robust lidar-camera fusion for 3d object detection with transformers. In: Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, pp. 1090–1099 Liang T, Xie H, Yu K, Xia Z, Lin ...
W. Zhen, Y. Hu, J. Liu, S. Scherer. A Joint Optimization Approach of LiDAR-Camera Fusion for Accurate Dense 3-D Reconstructions. IEEE Robotics and Automation Letters, 4(4), 3585-3592, 2019. 摘要 融合相机和激光的数据十分吸引人,因为它们有互补的性质。例如,相机有更高的分辨率和色彩,LiDAR数...
In this paper, we propose a LiDAR-camera fusion framework, named SimpleBEV, for accurate 3D object detection, which follows the BEV-based fusion framework and improves the camera and LiDAR encoders, respectively. Specifically, we perform the camera-based depth estimation using a cascade network ...
LiDAR-camera fusiontwo-stageAccurate and reliable perception systems are essential for autonomous driving and robotics. To achieve this, 3D object detection with multi-sensors is necessary. Existing 3D detectors have significantly improved accuracy by adopting a two-stage paradigm that relies solely on ...
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光雷达和相机模式中的补偿信息。传统的多模态...
代码路径:samples/ai_toolchain/horizon_model_train_sample/scripts/configs/lidar_bevfusion/bevfusion_pointpillar_henet_multisensor_multitask_nuscenes.py 4.2.2 LiDAR 流 公版BEVFusion 采用了当前流行的 3 种激光点云检测模型 PointPillars , CenterPoint 和 TransFusion 作为 LiDAR 流来展示框架的通用性。BEVFu...
"Transfusion: Robust LiDAR-Camera Fusion for 3D Object Detection with Transformers" 是一个专注于利用Transformer模型进行LiDAR和相机数据融合,以提高3D目标检测鲁棒性的方法。下面是对你问题的详细回答: 1. 理解"transfusion"的含义及其在3D目标检测中的应用 "Transfusion" 在这个上下文中指的是一种将LiDAR(光探测...