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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…
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…
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…