Related papers: 3D Visual Perception for Self-Driving Cars using a…
Over the past few decades, a significant rise of camera-based applications for traffic monitoring has occurred. Governments and local administrations are increasingly relying on the data collected from these cameras to enhance road safety…
Connected and cooperative driving requires precise calibration of the roadside infrastructure for having a reliable perception system. To solve this requirement in an automated manner, we present a robust extrinsic calibration method for…
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…
Autonomous detection of lane markers improves road safety, and purely visual tracking is desirable for widespread vehicle compatibility and reducing sensor intrusion, cost, and energy consumption. However, visual approaches are often…
Perceiving the surrounding environment is a fundamental task in autonomous driving. To obtain highly accurate perception results, modern autonomous driving systems typically employ multi-modal sensors to collect comprehensive environmental…
Automatic underground parking has attracted considerable attention as the scope of autonomous driving expands. The auto-vehicle is supposed to obtain the environmental information, track its location, and build a reliable map of the…
Autonomous driving on water surfaces plays an essential role in executing hazardous and time-consuming missions, such as maritime surveillance, survivors rescue, environmental monitoring, hydrography mapping and waste cleaning. This work…
In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…
Calibration of devices with different modalities is a key problem in robotic vision. Regular spatial objects, such as planes, are frequently used for this task. This paper deals with the automatic detection of ellipses in camera images, as…
Camera calibration is an essential first step in setting up 3D Computer Vision systems. Commonly used parametric camera models are limited to a few degrees of freedom and thus often do not optimally fit to complex real lens distortion. In…
Autonomous vehicles rely heavily upon their perception subsystems to see the environment in which they operate. Unfortunately, the effect of variable weather conditions presents a significant challenge to object detection algorithms, and…
A large field-of-view fisheye camera allows for capturing a large area with minimal numbers of cameras when they are mounted on a high position facing downwards. This top-view omnidirectional setup greatly reduces the work and cost for…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
Perception systems of autonomous vehicles are susceptible to occlusion, especially when examined from a vehicle-centric perspective. Such occlusion can lead to overlooked object detections, e.g., larger vehicles such as trucks or buses may…
Bird's-Eye-View (BEV) perception has become a vital component of autonomous driving systems due to its ability to integrate multiple sensor inputs into a unified representation, enhancing performance in various downstream tasks. However,…
This paper introduces a visual-based localization method for autonomous vehicles (AVs) that operate in the absence of any complicated hardware system but a single camera. Visual localization refers to techniques that aim to find the…
Urban scene reconstruction is crucial for real-world autonomous driving simulators. Although existing methods have achieved photorealistic reconstruction, they mostly focus on pinhole cameras and neglect fisheye cameras. In fact, how to…
We can only allow human-robot-cooperation in a common work cell if the human integrity is guaranteed. A surveillance system with multiple cameras can detect collisions without contact to the human collaborator. A failure safe system needs…
Nowadays, automobile manufacturers make efforts to develop ways to make cars fully safe. Monitoring driver's actions by computer vision techniques to detect driving mistakes in real-time and then planning for autonomous driving to avoid…
In autonomous systems, sensor calibration is essential for safe and efficient navigation in dynamic environments. Accurate calibration is a prerequisite for reliable perception and planning tasks such as object detection and obstacle…