Related papers: Computationally efficient dense moving object dete…

The performance of image based stereo estimation suffers from lighting variations, repetitive patterns and homogeneous appearance. Moreover, to achieve good performance, stereo supervision requires sufficient densely-labeled data, which are…

Traditional stereo algorithms have focused their efforts on reconstruction quality and have largely avoided prioritizing for run time performance. Robots, on the other hand, require quick maneuverability and effective computation to observe…

To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…

We present the SAMMI lightweight object detection method which has a high level of accuracy and robustness, and which is able to operate in an environment with a large number of cameras. Background modeling is based on DCT coefficients…

While the literature has been fairly dense in the areas of scene understanding and semantic labeling there have been few works that make use of motion cues to embellish semantic performance and vice versa. In this paper, we address the…

Object detection in 3D with stereo cameras is an important problem in computer vision, and is particularly crucial in low-cost autonomous mobile robots without LiDARs. Nowadays, most of the best-performing frameworks for stereo 3D object…

This project aims to develop a robust video surveillance system, which can segment videos into smaller clips based on the detection of activities. It uses CCTV footage, for example, to record only major events-like the appearance of a…

Monocular cameras are one of the most commonly used sensors in the automotive industry for autonomous vehicles. One major drawback using a monocular camera is that it only makes observations in the two dimensional image plane and can not…

A key challenge for autonomous vehicles is to navigate in unseen dynamic environments. Separating moving objects from static ones is essential for navigation, pose estimation, and understanding how other traffic participants are likely to…

Mixture models are well-established learning approaches that, in computer vision, have mostly been applied to inverse or ill-defined problems. However, they are general-purpose divide-and-conquer techniques, splitting the input space into…

Stereo superpixel segmentation aims at grouping the discretizing pixels into perceptual regions through left and right views more collaboratively and efficiently. Existing superpixel segmentation algorithms mostly utilize color and spatial…

Estimating accurate 3D locations of objects from monocular images is a challenging problem because of lacking depth. Previous work shows that utilizing the object's keypoint projection constraints to estimate multiple depth candidates…

Current geometry-based monocular 3D object detection models can efficiently detect objects by leveraging perspective geometry, but their performance is limited due to the absence of accurate depth information. Though this issue can be…

Monocular 3D Object Detection represents a challenging Computer Vision task due to the nature of the input used, which is a single 2D image, lacking in any depth cues and placing the depth estimation problem as an ill-posed one. Existing…

We present an approach to depth estimation that fuses information from a stereo pair with sparse range measurements derived from a LIDAR sensor or a range camera. The goal of this work is to exploit the complementary strengths of the two…

3D object detection is a key component of many robotic applications such as self-driving vehicles. While many approaches rely on expensive 3D sensors such as LiDAR to produce accurate 3D estimates, methods that exploit stereo cameras have…

The estimation of uncertainty in robotic vision, such as 3D object detection, is an essential component in developing safe autonomous systems aware of their own performance. However, the deployment of current uncertainty estimation methods…

Estimating the 6D pose of objects accurately, quickly, and robustly remains a difficult task. However, recent methods for directly regressing poses from RGB images using dense features have achieved state-of-the-art results. Stereo vision,…

Disparity estimation is a difficult problem in stereo vision because the correspondence technique fails in images with textureless and repetitive regions. Recent body of work using deep convolutional neural networks (CNN) overcomes this…

Stereo matching algorithms usually consist of four steps, including matching cost calculation, matching cost aggregation, disparity calculation, and disparity refinement. Existing CNN-based methods only adopt CNN to solve parts of the four…