Related papers: Any Motion Detector: Learning Class-agnostic Scene…

Place recognition is essential for achieving closed-loop or global positioning in autonomous vehicles and mobile robots. Despite recent advancements in place recognition using 2D cameras or 3D LiDAR, it remains to be seen how to use 4D…

While current 3D object recognition research mostly focuses on the real-time, onboard scenario, there are many offboard use cases of perception that are largely under-explored, such as using machines to automatically generate high-quality…

We address the problem of real-time 3D object detection from point clouds in the context of autonomous driving. Computation speed is critical as detection is a necessary component for safety. Existing approaches are, however, expensive in…

We tackle the problem of estimating optical flow from a monocular camera in the context of autonomous driving. We build on the observation that the scene is typically composed of a static background, as well as a relatively small number of…

Identifying independently moving objects is an essential task for dynamic scene understanding. However, traditional cameras used in dynamic scenes may suffer from motion blur or exposure artifacts due to their sampling principle. By…

State-of-the-art lidar-based 3D object detection methods rely on supervised learning and large labeled datasets. However, annotating lidar data is resource-consuming, and depending only on supervised learning limits the applicability of…

Accurate moving object segmentation is an essential task for autonomous driving. It can provide effective information for many downstream tasks, such as collision avoidance, path planning, and static map construction. How to effectively…

Event-based vision sensors, such as the Dynamic Vision Sensor (DVS), are ideally suited for real-time motion analysis. The unique properties encompassed in the readings of such sensors provide high temporal resolution, superior sensitivity…

The multi-modal perception methods are thriving in the autonomous driving field due to their better usage of complementary data from different sensors. Such methods depend on calibration and synchronization between sensors to get accurate…

Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-end pipeline with…

Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…

This paper aims at high-accuracy 3D object detection in autonomous driving scenario. We propose Multi-View 3D networks (MV3D), a sensory-fusion framework that takes both LIDAR point cloud and RGB images as input and predicts oriented 3D…

Exploiting past 3D LiDAR scans to predict future point clouds is a promising method for autonomous mobile systems to realize foresighted state estimation, collision avoidance, and planning. In this paper, we address the problem of…

In this paper, a multi-modal 360$^{\circ}$ framework for 3D object detection and tracking for autonomous vehicles is presented. The process is divided into four main stages. First, images are fed into a CNN network to obtain instance…

Motivated by the problem of pursuit-evasion, we present a motion planning framework that combines energy-based diffusion models with artificial potential fields for robust real time trajectory generation in complex environments. Our…

Object detection and classification in 3D is a key task in Automated Driving (AD). LiDAR sensors are employed to provide the 3D point cloud reconstruction of the surrounding environment, while the task of 3D object bounding box detection in…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…

In this work, we present LaserFlow, an efficient method for 3D object detection and motion forecasting from LiDAR. Unlike the previous work, our approach utilizes the native range view representation of the LiDAR, which enables our method…

Identifying moving objects is a crucial capability for autonomous navigation, consistent map generation, and future trajectory prediction of objects. In this paper, we propose a novel network that addresses the challenge of segmenting…

The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. This paper proposes a robust solution to achieve accurate…