Autonomous vehicles require constant environmental perception to obtain the distribution of
obstacles to achieve safe driving. Specifically, 3D object detection is a vital functional …

Learning powerful representations in bird's-eye-view (BEV) for perception tasks is trending
and drawing extensive attention both from industry and academia. Conventional …

Multi-sensor fusion is essential for an accurate and reliable autonomous driving system.
Recent approaches are based on point-level fusion: augmenting the LiDAR point cloud with …

Multi-modality fusion strategy is currently the de-facto most competitive solution for 3D
perception tasks. In this work, we present a new framework termed BEVFormer, which learns …

LiDAR and camera are two important sensors for 3D object detection in autonomous driving.
Despite the increasing popularity of sensor fusion in this field, the robustness against inferior …

Abstract Recently, virtual/pseudo-point-based 3D object detection that seamlessly fuses
RGB images and LiDAR data by depth completion has gained great attention. However …

Fusing the camera and LiDAR information has become a de-facto standard for 3D object
detection tasks. Current methods rely on point clouds from the LiDAR sensor as queries to …

Lidars and cameras are critical sensors that provide complementary information for 3D
detection in autonomous driving. While prevalent multi-modal methods simply decorate raw …

In this work, we present a unified framework for multi-modality 3D object detection, named
UVTR. The proposed method aims to unify multi-modality representations in the voxel space …

Non-uniformed 3D sparse data, eg, point clouds or voxels in different spatial positions, make
contribution to the task of 3D object detection in different ways. Existing basic components in …