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In this paper, we propose a new approach for keypoint-based object detection. Traditional keypoint-based methods consist in classifying individual points and using pose estimation to discard misclassifications. Since a single point carries…

Sophisticated automatic incident detection (AID) technology plays a key role in contemporary transportation systems. Though many papers were devoted to study incident classification algorithms, few study investigated how to enhance feature…

Recent work indicates that, besides being a challenge in producing perceptually pleasing images, low light proves more difficult for machine cognition than previously thought. In our work, we take a closer look at object detection in low…

Object detectors have shown outstanding performance on various public datasets. However, annotating a new dataset for a new task is usually unavoidable in real, since 1) a single existing dataset usually does not contain all object…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

Autonomous vehicles often perceive the environment by feeding sensor data to a learned detector algorithm, then feeding detections to a multi-object tracker that models object motions over time. Probabilistic models of multi-object trackers…

Annotating large scale datasets to train modern convolutional neural networks is prohibitively expensive and time-consuming for many real tasks. One alternative is to train the model on labeled synthetic datasets and apply it in the real…

Sensor fusion is crucial for a performant and robust Perception system in autonomous vehicles, but sensor staleness, where data from different sensors arrives with varying delays, poses significant challenges. Temporal misalignment between…

Limited real-world data severely impacts model performance in many computer vision domains, particularly for samples that are underrepresented in training. Synthetically generated images are a promising solution, but 1) it remains unclear…

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…

For many computer vision applications, such as image description and human identification, recognizing the visual attributes of humans is an essential yet challenging problem. Its challenges originate from its multi-label nature, the large…

Comprehending the environment and accurately detecting objects in 3D space are essential for advancing autonomous vehicle technologies. Integrating Camera and LIDAR data has emerged as an effective approach for achieving high accuracy in 3D…

Face detection is one of the challenging tasks in computer vision. Human face detection plays an essential role in the first stage of face processing applications such as face recognition, face tracking, image database management, etc. In…

The rapid development of 3D object detection systems for self-driving cars has significantly improved accuracy. However, these systems struggle to generalize across diverse driving environments, which can lead to safety-critical failures in…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

Recent years have witnessed the increasing application of place recognition in various environments, such as city roads, large buildings, and a mix of indoor and outdoor places. This task, however, still remains challenging due to the…

Object detection has been vigorously investigated for years but fast accurate detection for real-world scenes remains a very challenging problem. Overcoming drawbacks of single-stage detectors, we take aim at precisely detecting objects for…

Combining multiple datasets enables performance boost on many computer vision tasks. But similar trend has not been witnessed in object detection when combining multiple datasets due to two inconsistencies among detection datasets: taxonomy…

Object detection is the central issue of intelligent traffic systems, and recent advancements in single-vehicle lidar-based 3D detection indicate that it can provide accurate position information for intelligent agents to make decisions and…

Performing anomaly detection in hybrid systems is a challenging task since it requires analysis of timing behavior and mutual dependencies of both discrete and continuous signals. Typically, it requires modeling system behavior, which is…