Related papers: Fisheye Lens Camera based Autonomous Valet Parking…
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…
To obtain depth information from a stereo camera setup, a common way is to conduct disparity estimation between the two views; the disparity map thus generated may then also be used to synthesize arbitrary intermediate views. A…
Smart parking systems help reduce congestion and minimize users' search time, thereby contributing to smart city adoption and enhancing urban mobility. In previous works, we presented a system developed on a university campus to monitor…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
This paper proposes a photorealistic real-time dense 3D mapping system that utilizes a learning-based image enhancement method and mesh-based map representation. Due to the characteristics of the underwater environment, where problems such…
Motivated by the need to improve model performance in traffic monitoring tasks with limited labeled samples, we propose a straightforward augmentation technique tailored for object detection datasets, specifically designed for stationary…
In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve this problem both with and without taking bathymetry into…
In the area of autonomous driving, navigating off-road terrains presents a unique set of challenges, from unpredictable surfaces like grass and dirt to unexpected obstacles such as bushes and puddles. In this work, we present a novel…
The increasing urbanization and the growing number of vehicles in cities have underscored the need for efficient parking management systems. Traditional smart parking solutions often rely on sensors or cameras for occupancy detection, each…
This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…
Obtaining the position of ego-vehicle is a crucial prerequisite for automatic control and path planning in the field of autonomous driving. Most existing positioning systems rely on GPS, RTK, or wireless signals, which are arduous to…
Autoexposure (AE) is a critical step applied by camera systems to ensure properly exposed images. While current AE algorithms are effective in well-lit environments with constant illumination, these algorithms still struggle in environments…
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…
This paper presents a generic 6DOF camera pose estimation method, which can be used for both the pinhole camera and the fish-eye camera. Different from existing methods, relative positions of 3D points rather than absolute coordinates in…
Real-time parking occupancy information is valuable for guiding drivers' searching for parking spaces. Recently many parking detection systems using range-based on-vehicle sensors are invented, but they disregard the practical difficulty of…
Many tasks performed by autonomous vehicles such as road marking detection, object tracking, and path planning are simpler in bird's-eye view. Hence, Inverse Perspective Mapping (IPM) is often applied to remove the perspective effect from a…
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…
Images captured by fisheye lenses violate the pinhole camera assumption and suffer from distortions. Rectification of fisheye images is therefore a crucial preprocessing step for many computer vision applications. In this paper, we propose…
Finding parking consumes a disproportionate share of food delivery time, yet no system addresses precise parking-spot selection relative to merchant entrances. We propose ParkSense, a framework that repurposes idle compute during low-risk…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…