The paper presents a method for creating LiDAR-based 3D object detectors that remain accurate under point‑cloud corruptions while meeting strict latency and memory constraints. It achieves robustness by generating corrupted samples that mimic extreme weather and training detectors to focus on hard samples, guided by perturbation sensitivity estimated from an ensemble of seven heterogeneous detectors. Efficiency is improved by narrowing the network and using offline neighborhood‑density measurements to reduce the number of points processed at each sampling stage, resulting in significant gains in AP under corruption and reductions in inference latency and GPU memory usage across multiple datasets and detector architectures.
LiDAR-based 3D object detection is a core perception service for autonomous driving, but deployment requires robustness to point-cloud corruption while meeting latency and memory requirements. Existin...
Recent advancements in LiDAR-only 3D object detection have demonstrated improved detection accuracy over benchmark datasets. However, the adversarial robustness of these models remains untested.
arXiv:2607. 08391v1 Announce Type: cross Abstract: Making tradeoffs between execution latency and result utility (i.
The paper presents a solution for the UCF UrbanTwin LUMPI Track in the Sim-to-Real LiDAR Challenge, where a detector trained solely on synthetic data must perform on real LiDAR frames. The approach tackles the Sim2Real gap through data alignment, diversified sampling, augmentation, and specialized detectors, followed by class-aware fusion and calibration techniques. The final submission achieved a Combined Score of 0.4692, a Detection Score of 0.1797, a Realism Score of 0.9035, and a 3D mAP@0.5 of 0.1258.
arXiv:2609.23541v1 Announce Type: new Abstract: Multimodal 3D object detection is fundamental to robust perception in autonomous driving because it integrates complementary information from LiDAR and...
arXiv:2608. 07579v1 Announce Type: cross Abstract: The AI City Challenge 2026 Track 1 evaluates multi-camera 3D perception in large indoor warehouses under a synthetic-to-real (Sim2Real) setting; depth is available only for training and validation, so inference is RGB-only.
arXiv:2606. 09634v1 Announce Type: cross Abstract: 3D object detection is the backbone of perception for automated vehicles (AV) and broader intelligent transportation systems applications.
arXiv:2506. 22784v2 Announce Type: replace-cross Abstract: Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception.
We present our solution to the LUMPI track of the UCF UrbanTwin Sim2Real LiDAR Challenge at the 6th DriveX Workshop, ECCV 2026. The detector must be trained only on synthetic data and is evaluated on...
DriveOSS is a new real‑world multimodal dataset and benchmark for 3D anomaly segmentation and open‑set semantic segmentation in autonomous driving. It contains 12,661 synchronized frames from six RGB cameras, a 128‑beam LiDAR, and GPS/IMU, covering 52 driving scenes under various weather conditions. The data are split into in‑distribution (ID) scenes for training and out‑of‑distribution (OOD) scenes for validation and testing, with unknown objects labeled as an outlier class to challenge current 3D perception systems.
arXiv:2608. 07106v1 Announce Type: new Abstract: Deploying three-dimensional deep learning frameworks to low-power embedded processors is bottlenecked by the unstructured nature of spatial data and the resource-intensive distance sorting algorithms often used before neural network inference.
arXiv:2606. 02979v1 Announce Type: cross Abstract: We present a novel compact deep multi-task learning model to handle various autonomous driving perception tasks in one forward pass.