Search for: All records

Vehicle detection with visual sensors like lidar and camera is one of the critical functions enabling autonomous driving. While they generate fine-grained point clouds or high-resolution images with rich information in good weather conditions, they fail in adverse weather (e.g., fog) where opaque particles distort lights and significantly reduce visibility. Thus, existing methods relying on lidar or camera experience significant performance degradation in rare but critical adverse weather conditions. To remedy this, we resort to exploiting complementary radar, which is less impacted by adverse weather and becomes prevalent on vehicles. In this paper, we present Multimodal Vehicle Detection Network (MVDNet), a two-stage deep fusion detector, which first generates proposals from two sensors and then fuses region-wise features between multimodal sensor streams to improve final detection results. To evaluate MVDNet, we create a procedurally generated training dataset based on the collected raw lidar and radar signals from the open-source Oxford Radar Robotcar. We show that the proposed MVDNet surpasses other state-of-the-art methods, notably in terms of Average Precision (AP), especially in adverse weather conditions. The code and data are available at https://github.com/qiank10/MVDNet. 

Path guiding is a promising technique to reduce the variance of path tracing. Although existing online path guiding algorithms can eventually learn good sampling distributions given a large amount of time and samples, the speed of learning becomes a major bottleneck. In this paper, we accelerate the learning of sampling distributions by training a light-weight neural network offline to reconstruct from sparse samples. Uniquely, we design our neural network to directly operate convolutions on a sparse quadtree, which regresses a high-quality hierarchical sampling distribution. Our approach can reconstruct reasonably accurate sampling distributions faster, allowing for efficient path guiding and rendering. In contrast to the recent offline neural path guiding techniques that reconstruct low-resolution 2D images for sampling, our novel hierarchical framework enables more fine-grained directional sampling with less memory usage, effectively advancing the practicality and efficiency of neural path guiding. In addition, we take advantage of hybrid bidirectional samples including both path samples and photons, as we have found this more robust to different light transport scenarios compared to using only one type of sample as in previous work. Experiments on diverse testing scenes demonstrate that our approach often improves rendering results with better visual quality and lower errors. Our framework can also provide the proper balance of speed, memory cost, and robustness. 

Recently, deep learning‐based denoising approaches have led to dramatic improvements in low sample‐count Monte Carlo rendering. These approaches are aimed at path tracing, which is not ideal for simulating challenging light transport effects like caustics, where photon mapping is the method of choice. However, photon mapping requires very large numbers of traced photons to achieve high‐quality reconstructions. In this paper, we develop the first deep learning‐based method for particle‐based rendering, and specifically focus on photon density estimation, the core of all particle‐based methods. We train a novel deep neural network to predict a kernel function to aggregate photon contributions at shading points. Our network encodes individual photons into per‐photon features, aggregates them in the neighborhood of a shading point to construct a photon local context vector, and infers a kernel function from the per‐photon and photon local context features. This network is easy to incorporate in many previous photon mapping methods (by simply swapping the kernel density estimator) and can produce high‐quality reconstructions of complex global illumination effects like caustics with an order of magnitude fewer photons compared to previous photon mapping methods. Our approach largely reduces the required number of photons, significantly advancing the computational efficiency in photon mapping.