no code implementations • 19 Mar 2024 • Dongyang Xu, Haokun Li, Qingfan Wang, Ziying Song, Lei Chen, Hanming Deng
By incorporating driver attention, we empower the human-like scene understanding ability to autonomous vehicles to identify crucial areas within complex scenarios precisely and ensure safety.
no code implementations • 18 Mar 2024 • Ziying Song, Lei Yang, Shaoqing Xu, Lin Liu, Dongyang Xu, Caiyan Jia, Feiyang Jia, Li Wang
Additionally, we propose a Global Align module to rectify the misalignment between LiDAR and camera BEV features.
no code implementations • 12 Jan 2024 • Ziying Song, Lin Liu, Feiyang Jia, Yadan Luo, Guoxin Zhang, Lei Yang, Li Wang, Caiyan Jia
In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning.
1 code implementation • 8 Jan 2024 • Ziying Song, Guoxing Zhang, Lin Liu, Lei Yang, Shaoqing Xu, Caiyan Jia, Feiyang Jia, Li Wang
To align SAM or SAM-AD with multi-modal methods, we then introduce AD-FPN for upsampling the image features extracted by SAM.
no code implementations • 5 Jan 2024 • Ziying Song, Guoxin Zhang, Jun Xie, Lin Liu, Caiyan Jia, Shaoqing Xu, Zhepeng Wang
In particular, we propose a voxel-based image pipeline that involves projecting point clouds onto images to obtain both pixel- and patch-level features.
no code implementations • 3 Jan 2024 • Lin Bai, Caiyan Jia, Ziying Song, Chaoqun Cui
Moreover, these methods usually only extract visual features in a basic manner, seldom consider tampering or textual information in images.
no code implementations • 21 Oct 2023 • Li Wang, Xinyu Zhang, Fachuan Zhao, Chuze Wu, Yichen Wang, Ziying Song, Lei Yang, Jun Li, Huaping Liu
The proposed Fuzzy-NMS module combines the volume and clustering density of candidate bounding boxes, refining them with a fuzzy classification method and optimizing the appropriate suppression thresholds to reduce uncertainty in the NMS process.
no code implementations • ICCV 2023 • Ziying Song, Haiyue Wei, Lin Bai, Lei Yang, Caiyan Jia
Through the projection calibration between the image and point cloud, we project the nearest neighbors of point cloud features onto the image features.
1 code implementation • 11 Oct 2023 • Xinyu Zhang, Li Wang, Jian Chen, Cheng Fang, Lei Yang, Ziying Song, Guangqi Yang, Yichen Wang, Xiaofei Zhang, Jun Li, Zhiwei Li, Qingshan Yang, Zhenlin Zhang, Shuzhi Sam Ge
Compared with commonly used 3D radars, the latest 4D radars have precise vertical resolution and higher point cloud density, making it a highly promising sensor for autonomous driving in complex environmental perception.
no code implementations • 10 Dec 2022 • Shaoqing Xu, Fang Li, Ziying Song, Jin Fang, Sifen Wang, Zhi-Xin Yang
Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance detection accuracy.