58 citations · 79 across the 29 of their papers we have counts for
12 papers · 1 filter
RaCFormer: Towards High-Quality 3D Object Detection via Query-based Radar-Camera Fusion
Xiaomeng Chu, Jiajun Deng, Guoliang You +3
We propose Radar-Camera fusion transformer (RaCFormer) to boost the accuracy of 3D object detection by the following insight. The Radar-Camera fusion in outdoor 3D scene perception…
Map++: Towards User-Participatory Visual SLAM Systems with Efficient Map Expansion and Sharing
Xinran Zhang, Hanqi Zhu, Yifan Duan +5
Constructing precise 3D maps is crucial for the development of future map-based systems such as self-driving and navigation. However, generating these maps in complex environments,…
CELLmap: Enhancing LiDAR SLAM through Elastic and Lightweight Spherical Map Representation
Yifan Duan, Xinran Zhang, Yao Li +4
SLAM is a fundamental capability of unmanned systems, with LiDAR-based SLAM gaining widespread adoption due to its high precision. Current SLAM systems can achieve centimeter-level…
LFP: Efficient and Accurate End-to-End Lane-Level Planning via Camera-LiDAR Fusion
Guoliang You, Xiaomeng Chu, Yifan Duan +4
Multi-modal systems enhance performance in autonomous driving but face inefficiencies due to indiscriminate processing within each modality. Additionally, the independent feature l…
LDP: A Local Diffusion Planner for Efficient Robot Navigation and Collision Avoidance
Wenhao Yu, Jie Peng, Huanyu Yang +4
The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of…
RayFormer: Improving Query-Based Multi-Camera 3D Object Detection via Ray-Centric Strategies
Xiaomeng Chu, Jiajun Deng, Guoliang You +3
The recent advances in query-based multi-camera 3D object detection are featured by initializing object queries in the 3D space, and then sampling features from perspective-view im…
Perception Helps Planning: Facilitating Multi-Stage Lane-Level Integration via Double-Edge Structures
Guoliang You, Xiaomeng Chu, Yifan Duan +6
When planning for autonomous driving, it is crucial to consider essential traffic elements such as lanes, intersections, traffic regulations, and dynamic agents. However, they are…
Rotation Initialization and Stepwise Refinement for Universal LiDAR Calibration
Yifan Duan, Xinran Zhang, Guoliang You +8
Autonomous systems often employ multiple LiDARs to leverage the integrated advantages, enhancing perception and robustness. The most critical prerequisite under this setting is the…
Rendering-Enhanced Automatic Image-to-Point Cloud Registration for Roadside Scenes
Yu Sheng, Lu Zhang, Xingchen Li +4
Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. H…
MM-Gaussian: 3D Gaussian-based Multi-modal Fusion for Localization and Reconstruction in Unbounded Scenes
Chenyang Wu, Yifan Duan, Xinran Zhang +3
Localization and mapping are critical tasks for various applications such as autonomous vehicles and robotics. The challenges posed by outdoor environments present particular compl…
CRPlace: Camera-Radar Fusion with BEV Representation for Place Recognition
Shaowei Fu, Yifan Duan, Yao Li +4
The integration of complementary characteristics from camera and radar data has emerged as an effective approach in 3D object detection. However, such fusion-based methods remain u…
mmPlace: Robust Place Recognition with Intermediate Frequency Signal of Low-cost Single-chip Millimeter Wave Radar
Chengzhen Meng, Yifan Duan, Chenming He +3
Place recognition is crucial for tasks like loop-closure detection and re-localization. Single-chip millimeter wave radar (single-chip radar in short) emerges as a low-cost sensor…