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LiDAR-based 3D object detection is essential for autonomous driving systems. However, LiDAR point clouds may appear to have sparsity, uneven distribution, and incomplete structures, significantly limiting the detection performance. In road…

Detecting objects in 3D LiDAR data is a core technology for autonomous driving and other robotics applications. Although LiDAR data is acquired over time, most of the 3D object detection algorithms propose object bounding boxes…

Now a days, UAVs such as drones are greatly used for various purposes like that of capturing and target detection from ariel imagery etc. Easy access of these small ariel vehicles to public can cause serious security threats. For instance,…

We introduce YOLO9000, a state-of-the-art, real-time object detection system that can detect over 9000 object categories. First we propose various improvements to the YOLO detection method, both novel and drawn from prior work. The improved…

Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…

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…

As the perception range of LiDAR expands, LiDAR-based 3D object detection contributes ever-increasingly to the long-range perception in autonomous driving. Mainstream 3D object detectors often build dense feature maps, where the cost is…

We innovate in stereo vision by explicitly providing analytical 3D surface models as viewed by a cyclopean eye model that incorporate depth discontinuities and occlusions. This geometrical foundation combined with learned stereo features…

Electric scooters (e-scooters) have rapidly emerged as a popular mode of transportation in urban areas, yet they pose significant safety challenges. In the United States, the rise of e-scooters has been marked by a concerning increase in…

Real-time monocular 3D object detection remains challenging due to severe depth ambiguity, viewpoint shifts, and the high computational cost of 3D reasoning. Existing approaches either rely on LiDAR or geometric priors to compensate for…

One-stage object detection, particularly the YOLO series, strikes a favorable balance between accuracy and efficiency. However, existing YOLO detectors lack explicit modeling of heterogeneous object responses within shared feature channels,…

Safety is paramount for mobile robotic platforms such as self-driving cars and unmanned aerial vehicles. This work is devoted to a task that is indispensable for safety yet was largely overlooked in the past -- detecting obstacles that are…

While expensive LiDAR and stereo camera rigs have enabled the development of successful 3D object detection methods, monocular RGB-only approaches lag much behind. This work advances the state of the art by introducing MoVi-3D, a novel,…

Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…

The ability to promptly respond to environmental changes is crucial for the perception system of autonomous driving. Recently, a new task called streaming perception was proposed. It jointly evaluate the latency and accuracy into a single…

Monocular 3D object detection is an inherently ill-posed problem, as it is challenging to predict accurate 3D localization from a single image. Existing monocular 3D detection knowledge distillation methods usually project the LiDAR onto…

Object detection is essential to safe autonomous or assisted driving. Previous works usually utilize RGB images or LiDAR point clouds to identify and localize multiple objects in self-driving. However, cameras tend to fail in bad driving…

4D radar-camera sensing configuration has gained increasing importance in autonomous driving. However, existing 3D object detection methods that fuse 4D Radar and camera data confront several challenges. First, their absolute depth…

Despite the success of deep learning in close-set 3D object detection, existing approaches struggle with zero-shot generalization to novel objects and camera configurations. We introduce DetAny3D, a promptable 3D detection foundation model…

Research on video-based eye-tracking has long explored stereo and glint-based methods, yet existing wearable eye trackers - both commercial and open-source - offer limited flexibility for algorithm development and comparative evaluation. We…