3D object detection in LiDAR point clouds has been extensively used in autonomous driving, intelligent robotics, and augmented reality. Although the one-stage 3D detector has satisfactory training and inference speed, there are still some performance problems due to insufficient utilization of bird’s eye view (BEV) information. In this paper, a new backbone network is proposed to complete the cross-layer fusion of multi-scale BEV feature maps, which makes full use of various information for detection. Specifically, our proposed backbone network can be divided into a coarse branch and a fine branch. In the coarse branch, we use the pyramidal feature hierarchy (PFH) to generate multi-scale BEV feature maps, which retain the advantages of different levels and serves as the input of the fine branch. In the fine branch, our proposed pyramid splitting and aggregation (PSA) module deeply integrates different levels of multi-scale feature maps, thereby improving the expressive ability of the final features. Extensive experiments on the challenging KITTI-3D benchmark show that our method has better performance in both 3D and BEV object detection compared with some previous state-of-the-art methods. Experimental results with average precision (AP) prove the effectiveness of our network.

High dynamic range imaging (HDRI) is an essential task in remote sensing, enhancing low dynamic range (LDR) remote sensing images and benefiting downstream tasks, such as object detection and image segmentation. However, conventional frame-based HDRI methods may encounter challenges in real-world scenarios due to the limited information inherent in a single image captured by conventional cameras. In this paper, an event-based remote sensing HDR imaging framework is proposed to address this problem, denoted as ERS-HDRI, which reconstructs the remote sensing HDR image from a single-exposure LDR image and its concurrent event streams. The proposed ERS-HDRI leverages a coarse-to-fine framework, incorporating the event-based dynamic range enhancement (E-DRE) network and the gradient-enhanced HDR reconstruction (G-HDRR) network. Specifically, to efficiently achieve dynamic range fusion from different domains, the E-DRE network is designed to extract the dynamic range features from LDR frames and events and perform intra- and cross-attention operations to adaptively fuse multi-modal data. A denoise network and a dense feature fusion network are then employed for the generation of the coarse, clean HDR image. Then, the G-HDRR network, with its gradient enhancement module and multiscale fusion module, performs structure enforcement on the coarse HDR image and generates a fine informative HDR image. In addition, this work introduces a specialized hybrid imaging system and a novel, real-world event-based remote sensing HDRI dataset that contains aligned remote sensing LDR images, remote sensing HDR images, and concurrent event streams for evaluation. Comprehensive experiments have demonstrated the effectiveness of the proposed method. Specifically, it improves state-of-the-art PSNR by about 30% and the SSIM score by about 9% on the real-world dataset.

Three-dimensional object detection from point cloud data is becoming more and more significant, especially for autonomous driving applications. However, it is difficult for lidar to obtain the complete structure of an object in a real scene due to its scanning characteristics. Although the existing methods have made great progress, most of them ignore the prior information of object structure, such as symmetry. So, in this paper, we use the symmetry of the object to complete the missing part in the point cloud and then detect it. Specifically, we propose a two-stage detection framework. In the first stage, we adopt an encoder–decoder structure to generate the symmetry points of the foreground points and make the symmetry points and the non-empty voxel centers form an enhanced point cloud. In the second stage, the enhanced point cloud is input into the baseline, which is an anchor-based region proposal network, to generate the detection results. Extensive experiments on the challenging KITTI benchmark show the effectiveness of our method, which has better performance on both 3D and BEV (bird’s eye view) object detection compared with some previous state-of-the-art methods.

Due to their characteristics of low latency, high temporal resolution, and wide dynamic range, event cameras have emerged as advanced visual sensors for robust multi-modal tracking. However, recent approaches for processing multi-modal sensor data often rely on multiple disjointed modules, such as feature extraction, fusion, and adaptive learning, resulting in high model complexity. Moreover, the feature representations of sensor data obtained through these methods are limited by the traditional attention mechanism, which overlooks the role of frequency domain knowledge in enhancing modality-specific features. This work introduces a unified tracking framework named Frequency-Aware Event Frame Tracker (FAEFTrack) to reduce model complexity and improve modality-specific features. Specifically, a voxel-based event representation is adopted to effectively capture spatial-temporal details from event data. Based on the vision transformer network, we design a single-stream sensor data fusion backbone which is able to integrate feature learning with relation modeling and simplify the tracking process. Furthermore, a frequency attention block with multi-frequency attention is proposed to enhance modality-specific features in the frequency domain. Extensive experiments on the VisEvent and COESOT datasets demonstrate that our approach outperforms state-of-the-art methods, achieving improvements of 3.6%/1.5% and 1.6%/4.1% in SR/PR scores, respectively.