9 papers
CoGoal3D: Collaborative 3D Object Detection with 3D-Aware Fusion and Refinement
Zhihao Yang, Zhiyu Xiang, Peng Xu +5
V2X collaborative object detection features overcoming the limitations of single-vehicle systems by aggregating environmental features from multiple collaborative agents. However,…
RayFusion: Ray Fusion Enhanced Collaborative Visual Perception
Shaohong Wang, Bin Lu, Xinyu Xiao +6
Collaborative visual perception methods have gained widespread attention in the autonomous driving community in recent years due to their ability to address sensor limitation probl…
MAGIC: Learning from Visibility Asymmetry for Unsupervised Stereo Matching
Peng Xu, Zhiyu Xiang, Tingming Bai +5
Learning disparity in occluded regions remains difficult for unsupervised stereo matching. Photometric supervision lacks valid target-view correspondences in these regions, while t…
CVFusion: Cross-View Fusion of 4D Radar and Camera for 3D Object Detection
Hanzhi Zhong, Zhiyu Xiang, Ruoyu Xu +6
4D radar has received significant attention in autonomous driving thanks to its robustness under adverse weathers. Due to the sparse points and noisy measurements of the 4D radar,…
MIDAS: Modeling Ground-Truth Distributions with Dark Knowledge for Domain Generalized Stereo Matching
Peng Xu, Zhiyu Xiang, Jingyun Fu +3
Despite the significant advances in domain generalized stereo matching, existing methods still exhibit domain-specific preferences when transferring from synthetic to real domains,…
SCKD: Semi-Supervised Cross-Modality Knowledge Distillation for 4D Radar Object Detection
Ruoyu Xu, Zhiyu Xiang, Chenwei Zhang +6
3D object detection is one of the fundamental perception tasks for autonomous vehicles. Fulfilling such a task with a 4D millimeter-wave radar is very attractive since the sensor i…
RISurConv: Rotation Invariant Surface Attention-Augmented Convolutions for 3D Point Cloud Classification and Segmentation
Zhiyuan Zhang, Licheng Yang, Zhiyu Xiang
Despite the progress on 3D point cloud deep learning, most prior works focus on learning features that are invariant to translation and point permutation, and very limited efforts…
IFTR: An Instance-Level Fusion Transformer for Visual Collaborative Perception
Shaohong Wang, Lu Bin, Xinyu Xiao +3
Multi-agent collaborative perception has emerged as a widely recognized technology in the field of autonomous driving in recent years. However, current collaborative perception pre…
Lite-SAM Is Actually What You Need for Segment Everything
Jianhai Fu, Yuanjie Yu, Ningchuan Li +5
This paper introduces Lite-SAM, an efficient end-to-end solution for the SegEvery task designed to reduce computational costs and redundancy. Lite-SAM is composed of four main comp…