Benlian Xu

Xiaoying Wang, Reza Hoseinnezhad, Amirali K. Gostar et al.

Sensor management in multi-object stochastic systems is a theoretically and computationally challenging problem. This paper presents a novel approach to the multi-target multi-sensor control problem within the partially observed Markov decision process (POMDP) framework. We model the multi-object state as a labeled multi-Bernoulli random finite set (RFS), and use the labeled multi-Bernoulli filter in conjunction with minimizing a task-driven control objective function: posterior expected error of cardinality and state (PEECS). A major contribution is a guided search for multi-dimensional optimization in the multi-sensor control command space, using coordinate descent method. In conjunction with the Generalized Covariance Intersection method for multi-sensor fusion, a fast multi-sensor algorithm is achieved. Numerical studies are presented in several scenarios where numerous controllable (mobile) sensors track multiple moving targets with different levels of observability. The results show that our method works significantly faster than the approach taken by a state of art method, with similar tracking errors.

Xiaoying Wang, Reza Hoseinnezhad, Amirali K. Gostar et al.

This paper presents a novel statistical information fusion method to integrate multiple-view sensor data in multi-object tracking applications. The proposed method overcomes the drawbacks of the commonly used Generalized Covariance Intersection method, which considers constant weights allocated for sensors. Our method is based on enhancing the Generalized Covariance Intersection with adaptive weights that are automatically tuned based on the amount of information carried by the measurements from each sensor. To quantify information content, Cauchy-Schwarz divergence is used. Another distinguished characteristic of our method lies in the usage of the Labeled Multi-Bernoulli filter for multi-object tracking, in which the weight of each sensor can be separately adapted for each Bernoulli component of the filter. The results of numerical experiments show that our proposed method can successfully integrate information provided by multiple sensors with different fields of view. In such scenarios, our method significantly outperforms the state of art in terms of inclusion of all existing objects and tracking accuracy.

Di Wu, Feng Yang, Wenhui Zhao et al.

Multi-view 3D object detection is a fundamental task in autonomous driving perception, where achieving a balance between detection accuracy and computational efficiency remains crucial. Sparse query-based 3D detectors efficiently aggregate object-relevant features from multi-view images through a set of learnable queries, offering a concise and end-to-end detection paradigm. Building on this foundation, MV2D leverages 2D detection results to provide high-quality object priors for query initialization, enabling higher precision and recall. However, the inherent depth ambiguity in single-frame 2D detections still limits the accuracy of 3D query generation. To address this issue, we propose StereoMV2D, a unified framework that integrates temporal stereo modeling into the 2D detection-guided multi-view 3D detector. By exploiting cross-temporal disparities of the same object across adjacent frames, StereoMV2D enhances depth perception and refines the query priors, while performing all computations efficiently within 2D regions of interest (RoIs). Furthermore, a dynamic confidence gating mechanism adaptively evaluates the reliability of temporal stereo cues through learning statistical patterns derived from the inter-frame matching matrix together with appearance consistency, ensuring robust detection under object appearance and occlusion. Extensive experiments on the nuScenes and Argoverse 2 datasets demonstrate that StereoMV2D achieves superior detection performance without incurring significant computational overhead. Code will be available at https://github.com/Uddd821/StereoMV2D.

Di Wu, Feng Yang, Benlian Xu et al.

The application of vision-based multi-view environmental perception system has been increasingly recognized in autonomous driving technology, especially the BEV-based models. Current state-of-the-art solutions primarily encode image features from each camera view into the BEV space through explicit or implicit depth prediction. However, these methods often overlook the structured correlations among different parts of objects in 3D space and the fact that different categories of objects often occupy distinct local height ranges. For example, trucks appear at higher elevations, whereas traffic cones are near the ground. In this work, we propose a novel approach that decouples feature sampling in the \textbf{BEV} grid queries paradigm into \textbf{H}orizontal feature aggregation and \textbf{V}ertical adaptive height-aware reference point sampling (HV-BEV), aiming to improve both the aggregation of objects' complete information and awareness of diverse objects' height distribution. Specifically, a set of relevant neighboring points is dynamically constructed for each 3D reference point on the ground-aligned horizontal plane, enhancing the association of the same instance across different BEV grids, especially when the instance spans multiple image views around the vehicle. Additionally, instead of relying on uniform sampling within a fixed height range, we introduce a height-aware module that incorporates historical information, enabling the reference points to adaptively focus on the varying heights at which objects appear in different scenes. Extensive experiments validate the effectiveness of our proposed method, demonstrating its superior performance over the baseline across the nuScenes dataset. Moreover, our best-performing model achieves a remarkable 50.5\% mAP and 59.8\% NDS on the nuScenes testing set. The code is available at https://github.com/Uddd821/HV-BEV.

Di Wu, Feng Yang, Benlian Xu et al.

With the rapid advancement of autonomous driving technology, there is a growing need for enhanced safety and efficiency in the automatic environmental perception of vehicles during their operation. In modern vehicle setups, cameras and mmWave radar (radar), being the most extensively employed sensors, demonstrate complementary characteristics, inherently rendering them conducive to fusion and facilitating the achievement of both robust performance and cost-effectiveness. This paper focuses on a comprehensive survey of radar-vision (RV) fusion based on deep learning methods for 3D object detection in autonomous driving. We offer a comprehensive overview of each RV fusion category, specifically those employing region of interest (ROI) fusion and end-to-end fusion strategies. As the most promising fusion strategy at present, we provide a deeper classification of end-to-end fusion methods, including those 3D bounding box prediction based and BEV based approaches. Moreover, aligning with recent advancements, we delineate the latest information on 4D radar and its cutting-edge applications in autonomous vehicles (AVs). Finally, we present the possible future trends of RV fusion and summarize this paper.