This paper presents two variations of architecture referred to as RANet and BIRANet. The proposed architecture aims to use radar signal data along with RGB camera images to form a robust detection network that works efficiently, even in variable lighting and weather conditions such as rain, dust, fog, and others. First, radar information is fused in the feature extractor network. Second, radar points are used to generate guided anchors. Third, a method is proposed to improve region proposal network targets. BIRANet yields 72.3/75.3% average AP/AR on the NuScenes dataset, which is better than the performance of our base network Faster-RCNN with Feature pyramid network(FFPN). RANet gives 69.6/71.9% average AP/AR on the same dataset, which is reasonably acceptable performance. Also, both BIRANet and RANet are evaluated to be robust towards the noise.
An autonomous system's perception engine must provide an accurate understanding of the environment for it to make decisions. Deep learning based object detection networks experience degradation in the performance and robustness for small and far away objects due to a reduction in object's feature map as we move to higher layers of the network. In this work, we propose a novel radar-guided spatial attention for RGB images to improve the perception quality of autonomous vehicles operating in a dynamic environment. In particular, our method improves the perception of small and long range objects,…
School of Aerospace Engineering, Tsinghua University（清华大学航天航空学院）
Cross-modality fusing complementary information of multispectral remote sensing image pairs can improve the perception ability of detection algorithms, making them more robust and reliable for a wider range of applications, such as nighttime detection. Compared with prior methods, we think different features should be processed specifically, the modality-specific features should be retained and enhanced, while the modality-shared features should be cherry-picked from the RGB and thermal IR modalities. Following this idea, a novel and lightweight multispectral feature fusion approach with joint…
Zhejiang University（浙江大学）；Fabu Inc.（法布公司）；Alibaba-Zhejiang University Joint Institute of Frontier Technologies（阿里巴巴-浙江大学前沿技术联合研究院）
LIDAR point clouds and RGB-images are both extremely essential for 3D object detection. So many state-of-the-art 3D detection algorithms dedicate in fusing these two types of data effectively. However, their fusion methods based on Birds Eye View (BEV) or voxel format are not accurate. In this paper, we propose a novel fusion approach named Point-based Attentive Cont-conv Fusion(PACF) module, which fuses multi-sensor features directly on 3D points. Except for continuous convolution, we additionally add a Point-Pooling and an Attentive Aggregation to make the fused features more expressive. Mor…
CARIAD SE；University of Bonn（波恩大学）；University of Oxford（牛津大学）；Lamarr Institute for Machine Learning and Artificial Intelligence（拉玛尔机器学习与人工智能研究所）
Scene understanding is crucial for autonomous robots in dynamic environments for making future state predictions, avoiding collisions, and path planning. Camera and LiDAR perception made tremendous progress in recent years, but face limitations under adverse weather conditions. To leverage the full potential of multi-modal sensor suites, radar sensors are essential for safety critical tasks and are already installed in most new vehicles today. In this paper, we address the problem of semantic segmentation of moving objects in radar point clouds to enhance the perception of the environment with…
Camera and radar sensors have significant advantages in cost, reliability, and maintenance compared to LiDAR. Existing fusion methods often fuse the outputs of single modalities at the result-level, called the late fusion strategy. This can benefit from using off-the-shelf single sensor detection algorithms, but late fusion cannot fully exploit the complementary properties of sensors, thus having limited performance despite the huge potential of camera-radar fusion. Here we propose a novel proposal-level early fusion approach that effectively exploits both spatial and contextual properties of …
The University of Tennessee, Knoxville（田纳西大学诺克斯维尔分校）
In this paper we present a novel radar-camera sensor fusion framework for accurate object detection and distance estimation in autonomous driving scenarios. The proposed architecture uses a middle-fusion approach to fuse the radar point clouds and RGB images. Our radar object proposal network uses radar point clouds to generate 3D proposals from a set of 3D prior boxes. These proposals are mapped to the image and fed into a Radar Proposal Refinement (RPR) network for objectness score prediction and box refinement. The RPR network utilizes both radar information and image feature maps to genera…
Ocean University of China（中国海洋大学）；Meteorological Bureau of Tianjin Municipality（天津市气象局）；Mississippi State University（密西西比州立大学）
Synthetic aperture radar (SAR) image change detection is a vital yet challenging task in the field of remote sensing image analysis. Most previous works adopt a self-supervised method which uses pseudo-labeled samples to guide subsequent training and testing. However, deep networks commonly require many high-quality samples for parameter optimization. The noise in pseudo-labels inevitably affects the final change detection performance. To solve the problem, we propose a Graph-based Knowledge Supplement Network (GKSNet). To be more specific, we extract discriminative information from the existi…
University of Alberta（阿尔伯塔大学）；Wuhan University（武汉大学）；Dalian University of Technology（大连理工大学）
Growing interests in RGB-D salient object detection (RGB-D SOD) have been witnessed in recent years, owing partly to the popularity of depth sensors and the rapid progress of deep learning techniques. Unfortunately, existing RGB-D SOD methods typically demand large quantity of training images being thoroughly annotated at pixel-level. The laborious and time-consuming manual annotation has become a real bottleneck in various practical scenarios. On the other hand, current unsupervised RGB-D SOD methods still heavily rely on handcrafted feature representations. This inspires us to propose in thi…
University of Oxford（牛津大学）；Oxford Robotics Institute（牛津机器人研究所）
This paper presents an efficient annotation procedure and an application thereof to end-to-end, rich semantic segmentation of the sensed environment using FMCW scanning radar. We advocate radar over the traditional sensors used for this task as it operates at longer ranges and is substantially more robust to adverse weather and illumination conditions. We avoid laborious manual labelling by exploiting the largest radar-focused urban autonomy dataset collected to date, correlating radar scans with RGB cameras and LiDAR sensors, for which semantic segmentation is an already consolidated procedur…
SGDet3D++: Geometry-Grounded Semantics for 4D Radar and Camera 3D Object Detection
College of Information Science and Electronic Engineering, Zhejiang University（浙江大学信息科学与电子工程学院）；School of Automotive Studies, Tongji University（同济大学汽车学院）
Object detection is essential to safe autonomous or assisted driving. Previous works usually utilize RGB images or LiDAR point clouds to identify and localize multiple objects in self-driving. However, cameras tend to fail in bad driving conditions, e.g. bad weather or weak lighting, while LiDAR scanners are too expensive to get widely deployed in commercial applications. Radar has been drawing more and more attention due to its robustness and low cost. In this paper, we propose a scene-aware radar learning framework for accurate and robust object detection. First, the learning framework conta…
University of Washington（华盛顿大学）；Silkwave Holdings Limited（Silkwave控股有限公司）
Radar is usually more robust than the camera in severe driving scenarios, e.g., weak/strong lighting and bad weather. However, unlike RGB images captured by a camera, the semantic information from the radar signals is noticeably difficult to extract. In this paper, we propose a deep radar object detection network (RODNet), to effectively detect objects purely from the carefully processed radar frequency data in the format of range-azimuth frequency heatmaps (RAMaps). Three different 3D autoencoder based architectures are introduced to predict object confidence distribution from each snippet of…
National Yang Ming Chiao Tung University（阳明交通大学）；University of Washington（华盛顿大学）
This paper introduces a novel human pose estimation benchmark, Human Pose with Millimeter Wave Radar (HuPR), that includes synchronized vision and radio signal components. This dataset is created using cross-calibrated mmWave radar sensors and a monocular RGB camera for cross-modality training of radar-based human pose estimation. There are two advantages of using mmWave radar to perform human pose estimation. First, it is robust to dark and low-light conditions. Second, it is not visually perceivable by humans and thus, can be widely applied to applications with privacy concerns, e.g., survei…
The ability to estimate 3D human body pose and movement, also known as human pose estimation (HPE), enables many applications for home-based health monitoring, such as remote rehabilitation training. Several possible solutions have emerged using sensors ranging from RGB cameras, depth sensors, millimeter-Wave (mmWave) radars, and wearable inertial sensors. Despite previous efforts on datasets and benchmarks for HPE, few dataset exploits multiple modalities and focuses on home-based health monitoring. To bridge the gap, we present mRI, a multi-modal 3D human pose estimation dataset with mmWave,…
College of Computer Science, Sichuan University（四川大学计算机学院）；National Key Laboratory of Fundamental Science on Synthetic Vision, Sichuan University（四川大学合成视觉基础科学国家重点实验室）
University of Washington（华盛顿大学）；Silkwave Holdings Limited（Silkwave控股有限公司）
Various autonomous or assisted driving strategies have been facilitated through the accurate and reliable perception of the environment around a vehicle. Among the commonly used sensors, radar has usually been considered as a robust and cost-effective solution even in adverse driving scenarios, e.g., weak/strong lighting or bad weather. Instead of considering to fuse the unreliable information from all available sensors, perception from pure radar data becomes a valuable alternative that is worth exploring. In this paper, we propose a deep radar object detection network, named RODNet, which is…
ViDSOD-100: A New Dataset and a Baseline Model for RGB-D Video Salient Object Detection
The Hong Kong University of Science and Technology（香港科技大学）；The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；School of Informatics, Xiamen University（厦门大学信息学院）；Lingnan University（岭南大学）；Agency for Science, Technology and Research (A*STAR)（新加坡科学、技术与研究局）；Institute of High Performance Computing (IHPC)（高性能计算研究所）；School of Data and Computer Science, Sun Yat-Sen University（中山大学数据与计算机科学学院）
Representation Learning for Compressed Video Action Recognition via Attentive Cross-modal Interaction with Motion Enhancement
State Key Laboratory of Software Development Environment, Beihang University（北京航空航天大学软件开发环境国家重点实验室）；School of Computer Science and Engineering, Beihang University（北京航空航天大学计算机科学与工程学院）；National Computer Network Emergency Response Technical Team, Coordination Center of China（中国国家计算机网络应急技术处理协调中心）
Zhejiang University（浙江大学）；Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province（浙江省协同感知与自主无人系统重点实验室）
Gait recognition is widely used in diversified practical applications. Currently, the most prevalent approach is to recognize human gait from RGB images, owing to the progress of computer vision technologies. Nevertheless, the perception capability of RGB cameras deteriorates in rough circumstances, and visual surveillance may cause privacy invasion. Due to the robustness and non-invasive feature of millimeter wave (mmWave) radar, radar-based gait recognition has attracted increasing attention in recent years. In this research, we propose a Hierarchical Dynamic Network (HDNet) for gait recogni…
NavEYE: Vision-Centered Multi-Sensor Fusion-Based Situational Awareness System for Intelligent Surface Vehicles
Sanya Science and Education Innovation Park, Wuhan University of Technology（武汉理工大学三亚科教创新园）；School of Navigation, Wuhan University of Technology（武汉理工大学航运学院）；State Key Laboratory of Maritime Technology and Safety（船舶技术与安全国家重点实验室）
Southeast University（东南大学）；University of Minnesota（明尼苏达大学）；Singapore University of Technology and Design（新加坡科技设计大学）；The University of Edinburgh（爱丁堡大学）
Human identification is a key requirement for many applications in everyday life, such as personalized services, automatic surveillance, continuous authentication, and contact tracing during pandemics, etc. This work studies the problem of cross-modal human re-identification (ReID), in response to the regular human movements across camera-allowed regions (e.g., streets) and camera-restricted regions (e.g., offices) deployed with heterogeneous sensors. By leveraging the emerging low-cost RGB-D cameras and mmWave radars, we propose the first-of-its-kind vision-RF system for cross-modal multi-per…
Catching objects in-flight is an outstanding challenge in robotics. In this paper, we present a closed-loop control system fusing data from two sensor modalities: an RGB-D camera and a radar. To develop and test our method, we start with an easy to identify object: a stuffed Piglet. We implement and compare two approaches to detect and track the object, and to predict the interception point. A baseline model uses colour filtering for locating the thrown object in the environment, while the interception point is predicted using a least squares regression over the physical ballistic trajectory e…
Recently, the applications of person re-identification in visual surveillance and human-computer interaction are sharply increasing, which signifies the critical role of such a problem. In this paper, we propose a two-stream convolutional network (ConvNet) based on the competitive similarity aggregation scheme and co-attentive embedding strategy for video-based person re-identification. By dividing the long video sequence into multiple short video snippets, we manage to utilize every snippet's RGB frames, optical flow maps and pose maps to facilitate residual networks, e.g., ResNet, for featur…
Robert Bosch GmbH（罗伯特·博世有限公司）；Ulm University（乌尔姆大学）；KTH Royal Institute of Technology（瑞典皇家理工学院）
Training a deep object detector for autonomous driving requires a huge amount of labeled data. While recording data via on-board sensors such as camera or LiDAR is relatively easy, annotating data is very tedious and time-consuming, especially when dealing with 3D LiDAR points or radar data. Active learning has the potential to minimize human annotation efforts while maximizing the object detector's performance. In this work, we propose an active learning method to train a LiDAR 3D object detector with the least amount of labeled training data necessary. The detector leverages 2D region propos…
Segment Any Motion with Radar: Robust Multimodal Moving-Object Segmentation and Tracking
Harbin Institute of Technology, Shenzhen（哈尔滨工业大学（深圳））；Great Bay University, Dongguan（大湾区大学（东莞））；Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院）
NERVE: A Neuromorphic Vision and Radar Ensemble for Multi-Sensor Fusion Research
1University of Twente, Netherlands 2University of Modena；3University of Strasbourg, France 4IMEC the Netherlands, Netherlands；5Innatera, Netherlands 6Maastricht University, Netherlands
Tsinghua University（清华大学）；Beijing National Research Center for Information Science and Technology（北京信息科学与技术国家研究中心）；Huawei Noah’s Ark Lab（华为诺亚方舟实验室）；Institute for AI Industry Research (AIR), Tsinghua University（清华大学智能产业研究院（AIR））
Many adaptations of transformers have emerged to address the single-modal vision tasks, where self-attention modules are stacked to handle input sources like images. Intuitively, feeding multiple modalities of data to vision transformers could improve the performance, yet the inner-modal attentive weights may also be diluted, which could thus undermine the final performance. In this paper, we propose a multimodal token fusion method (TokenFusion), tailored for transformer-based vision tasks. To effectively fuse multiple modalities, TokenFusion dynamically detects uninformative tokens and subst…
Toward a Low-Cost Perception System in Autonomous Vehicles: A Spectrum Learning Approach
Department of Electrical and Computer Engineering, College of Engineering（电气与计算机工程系，工程学院）；The Robotics Institute, School of Computer Science（机器人研究所，计算机科学学院）
Shanghai Jiao Tong University（上海交通大学）；University of California, Los Angeles（加州大学洛杉矶分校）；Institute of Information Engineering, Chinese Academy of Sciences（中国科学院信息工程研究所）
A collection of approaches based on graph convolutional networks have proven success in skeleton-based action recognition by exploring neighborhood information and dense dependencies between intra-frame joints. However, these approaches usually ignore the spatial-temporal global context as well as the local relation between inter-frame and intra-frame. In this paper, we propose a focusing and diffusion mechanism to enhance graph convolutional networks by paying attention to the kinematic dependence of articulated human pose in a frame and their implicit dependencies over frames. In the focusin…
University of Washington（华盛顿大学）；Zhejiang University（浙江大学）；Silkwave Holdings Limited（Silkwave控股有限公司）
Radar has long been a common sensor on autonomous vehicles for obstacle ranging and speed estimation. However, as a robust sensor to all-weather conditions, radar's capability has not been well-exploited, compared with camera or LiDAR. Instead of just serving as a supplementary sensor, radar's rich information hidden in the radio frequencies can potentially provide useful clues to achieve more complicated tasks, like object classification and detection. In this paper, we propose a new dataset, named CRUW, with a systematic annotator and performance evaluation system to address the radar object…
In this paper, we explore the possibility of achieving a more accurate depth estimation by fusing monocular images and Radar points using a deep neural network. We give a comprehensive study of the fusion between RGB images and Radar measurements from different aspects and proposed a working solution based on the observations. We find that the noise existing in Radar measurements is one of the main key reasons that prevents one from applying the existing fusion methods developed for LiDAR data and images to the new fusion problem between Radar data and images. The experiments are conducted on …
MultiFly: A Real-World Multimodal Aerial Dataset with Annotation-Efficient Label Transfer and Cross-Modal Semantic Consistency
Fraunhofer Institute IVI（弗劳恩霍夫交通系统研究所）；Technical University of Munich（慕尼黑工业大学）；Munich Center for Machine Learning (MCML)（慕尼黑机器学习中心）；University of Cambridge（剑桥大学）；Univ. of Applied Sciences Ingolstadt（英戈尔施塔特应用科学大学）
RadarXFormer: Robust Object Detection via Cross-Dimension Fusion of 4D Radar Spectra and Images for Autonomous Driving
Global Institute of Future Technology, Shanghai Jiao Tong University（上海交通大学未来技术全球研究院）；School of Automation and Intelligent Sensing, Shanghai Jiao Tong University（上海交通大学自动化与智能感知学院）；Key Laboratory of System Control and Information Processing, Ministry of Education of China（中国教育部系统控制与信息处理重点实验室）；SAIC GM Wuling Automobile Company Co., Ltd.（上汽通用五菱汽车有限公司）；Guangxi Laboratory of New Energy Automobile（广西新能源汽车实验室）
