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Precise localization is a core ability of an autonomous vehicle. It is a prerequisite for motion planning and execution. The well-established localization approaches such as Kalman and particle filters require a probabilistic observation…
3D lane detection is essential in autonomous driving as it extracts structural and traffic information from the road in three-dimensional space, aiding self-driving cars in logical, safe, and comfortable path planning and motion control.…
Autonomous vehicles are becoming popular day by day not only for autonomous road traversal but also for industrial automation, farming and military. Most of the standard vehicles follow the Ackermann style steering mechanism. This has…
In automated driving, highly accurate maps are commonly used to support and complement perception. These maps are costly to create and quickly become outdated as the traffic world is permanently changing. In order to support or replace the…
This work presents the development of a lane detection system aimed at assisting the driving of conventional and autonomous vehicles. The system was implemented using traditional computer vision techniques, focusing on robustness and…
We propose a robust method for estimating road curb 3D parameters (size, location, orientation) using a calibrated monocular camera equipped with a fisheye lens. Automatic curb detection and localization is particularly important in the…
Lane detection plays an important role in autonomous driving perception systems. As deep learning algorithms gain popularity, monocular lane detection methods based on them have demonstrated superior performance and emerged as a key…
Unmanned vehicle technologies are an area of great interest in theory and practice today. These technologies have advanced considerably after the first applications have been implemented and cause a rapid change in human life. Autonomous…
The lateral position of vehicles within their lane is a decisive factor for the range of vision of vehicle sensors. This, in turn, is crucial for a vehicle's ability to perceive its environment and gain a high situational awareness by…
Road boundaries, or curbs, provide autonomous vehicles with essential information when interpreting road scenes and generating behaviour plans. Although curbs convey important information, they are difficult to detect in complex urban…
Lane detection is crucial for vehicle localization which makes it the foundation for automated driving and many intelligent and advanced driving assistant systems. Available vision-based lane detection methods do not make full use of the…
Autonomous driving requires accurate local scene understanding information. To this end, autonomous agents deploy object detection and online BEV lane graph extraction methods as a part of their perception stack. In this work, we propose an…
A robust estimation of road course and traffic lanes is an essential part of environment perception for next generations of Advanced Driver Assistance Systems and development of self-driving vehicles. In this paper, a flexible method for…
We present ONCE-3DLanes, a real-world autonomous driving dataset with lane layout annotation in 3D space. Conventional 2D lane detection from a monocular image yields poor performance of following planning and control tasks in autonomous…
We propose a complete pipeline that allows object detection and simultaneously estimate the pose of these multiple object instances using just a single image. A novel "keypoint regression" scheme with a cross-ratio term is introduced that…
Monocular camera systems are prevailing in intelligent transportation systems, but by far they have rarely been used for dimensional purposes such as to accurately estimate the localization information of a vehicle. In this paper, we show…
Advanced driver assistance systems have improved comfort, safety, and efficiency of modern vehicles. However, sensor limitations lead to noisy lane estimates that pose a significant challenge in developing performant control architectures.…
Autonomous vehicles rely on their perception systems to acquire information about their immediate surroundings. It is necessary to detect the presence of other vehicles, pedestrians and other relevant entities. Safety concerns and the need…
This research work seeks to explore and identify strategies that can determine road topology information in 2D and 3D under highly dynamic urban driving scenarios. To facilitate this exploration, we introduce a substantial dataset…
Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…