arXiv Computer Vision
Aug 24

GS-Net: Heterogeneous Vehicle Data Reuse via Generalizable Plug-and-Play 3DGS Module

GS‑Net is a lightweight plug‑and‑play module that expands sparse Structure‑from‑Motion point clouds into dense Gaussian primitives, enabling cross‑sensor view synthesis for autonomous driving. It learns a generalizable initialization for 3D Gaussian Splatting, improving rendering quality for both interpolated and extrapolated camera viewpoints. The authors introduce CARLA‑NVS, a benchmark with 12 uniformly spaced cameras, and show that GS‑Net outperforms standard 3DGS by 2.08 dB PSNR on interpolated views and 1.86 dB on extrapolated views while being 50× faster to initialize.

By Yichen Zhang, Zihan Wang, Jiali Han, Peilin Li, Jiaxun Zhang, Jianqiang Wang, Lei He, Keqiang Li
arXiv Computer Vision
Sep 3

Stereo 4D Radar for 3D Object Detection: Integrating Geometric Alignment and Absolute Velocity Estimation

The paper presents a stereo 4D Radar framework for 3D object detection that uses geometric disparity between left and right radars to estimate absolute velocity and fuse complementary features. It addresses clutter, ghost reflections, and sparse data issues inherent in raw 4D Radar signals. Experiments on an in‑house dataset show significant gains, improving AP 3D by 8.82 points and AP BEV by 9.0 points over mono‑radar baselines.

By Seung-Hyun Song, Dong-Hee Paek, Woong-Chan Byun, Seung-Hyun Kong
Hugging Face Trending Papers
Sep 2

Stereo 4D Radar for 3D Object Detection: Integrating Geometric Alignment and Absolute Velocity Estimation

The paper presents a stereo 4D Radar-based framework for 3D object detection that uses the geometric disparity between left and right radars to estimate absolute velocity and fuse complementary features. It addresses challenges such as clutter, ghost reflections, and sparse data caused by preprocessing, and improves motion state estimation beyond the radial Doppler component. Experiments on an in‑house stereo 4D Radar dataset show significant gains of 8.82 points in AP 3D and 9.0 points in AP BEV over mono‑radar baselines.

arXiv Machine Learning
Sep 14

A Multi-Vehicle Dataset with Camera, LiDAR, and Radar Sensors and Scanned 3D Models for Custom Auto-Annotation using RTK-GNSS

The paper introduces a multi-vehicle dataset that includes camera, LiDAR, and radar sensor data along with scanned 3D models of all vehicles. Each vehicle’s pose and continuous kinematics are provided via RTK‑GNSS, enabling precise knowledge of the dynamic surroundings at any time. The dataset supports single‑ and multi‑object recordings with seven target vehicles, allowing evaluation of measurement effects such as occlusion and reflections thanks to known vehicle surface normals.

By Philipp Berthold, Bianca Forkel, Mirko Maehlisch