Related papers: A 2.5D Vehicle Odometry Estimation for Vision Appl…
Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…
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…
Vision-centric autonomous driving has demonstrated excellent performance with economical sensors. As the fundamental step, 3D perception aims to infer 3D information from 2D images based on 3D-2D projection. This makes driving perception…
Automotive self-localization is an essential task for any automated driving function. This means that the vehicle has to reliably know its position and orientation with an accuracy of a few centimeters and degrees, respectively. This paper…
In this paper, a robust vehicle local position estimation with the help of single camera sensor and GPS is presented. A modified Inverse Perspective Mapping, illuminant Invariant techniques and object detection based approach is used to…
As the autonomous driving industry is slowly maturing, visual map localization is quickly becoming the standard approach to localize cars as accurately as possible. Owing to the rich data returned by visual sensors such as cameras or…
Visual Odometry (VO) is used in many applications including robotics and autonomous systems. However, traditional approaches based on feature matching are computationally expensive and do not directly address failure cases, instead relying…
Image segmentation and 3D pose estimation are two key cogs in any algorithm for scene understanding. However, state-of-the-art CRF-based models for image segmentation rely mostly on 2D object models to construct top-down high-order…
Mobile robots rely on odometry to navigate through areas where localization fails. Visual odometry (VO) is a common solution for obtaining robust and consistent relative motion estimates of the vehicle frame. Contrarily, Global Positioning…
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…
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…
Autonomous driving is an exciting new industry, posing important research questions. Within the perception module, 3D human pose estimation is an emerging technology, which can enable the autonomous vehicle to perceive and understand the…
Understanding ego-motion and surrounding vehicle state is essential to enable automated driving and advanced driving assistance technologies. Typical approaches to solve this problem use fusion of multiple sensors such as LiDAR, camera, and…
Precise localization is of great importance for autonomous parking task since it provides service for the downstream planning and control modules, which significantly affects the system performance. For parking scenarios, dynamic lighting,…
Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…
Knowledge of the 6D pose of an object can benefit in-hand object manipulation. In-hand 6D object pose estimation is challenging because of heavy occlusion produced by the robot's grippers, which can have an adverse effect on methods that…
Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…
Estimating the limbs pose in a wearable way may benefit multiple areas such as rehabilitation, teleoperation, human-robot interaction, gaming, and many more. Several solutions are commercially available, but they are usually expensive or…
Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…
LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…