Related papers: End-to-End Monocular Vanishing Point Detection Exp…

As an important part of linear perspective, vanishing points (VPs) provide useful clues for mapping objects from 2D photos to 3D space. Existing methods are mainly focused on extracting structural features such as lines or contours and then…

Classical approaches to Vanishing Point Detection (VPD) rely solely on the presence of explicit straight lines in images, while recent supervised deep learning approaches need labeled datasets for training. We propose an alternative…

Monocular 3D lane detection is a fundamental task in autonomous driving. Although sparse-point methods lower computational load and maintain high accuracy in complex lane geometries, current methods fail to fully leverage the geometric…

Vision-based lane detection (LD) is a key part of autonomous driving technology, and it is also a challenging problem. As one of the important constraints of scene composition, vanishing point (VP) may provide a useful clue for lane…

Accurate 3D lane estimation is crucial for ensuring safety in autonomous driving. However, prevailing monocular techniques suffer from depth loss and lighting variations, hampering accurate 3D lane detection. In contrast, LiDAR points offer…

Lane detection, the process of identifying lane markings as approximated curves, is widely used for lane departure warning and adaptive cruise control in autonomous vehicles. The popular pipeline that solves it in two steps -- feature…

Understanding 3D scenes semantically and spatially is crucial for the safe navigation of robots and autonomous vehicles, aiding obstacle avoidance and accurate trajectory planning. Camera-based 3D semantic occupancy prediction, which infers…

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…

Unstructured road vanishing point (VP) detection is a challenging problem, especially in the field of autonomous driving. In this paper, we proposed a novel solution combining the convolutional neural network (CNN) and heatmap regression to…

Modern vehicles are equipped with various driver-assistance systems, including automatic lane keeping, which prevents unintended lane departures. Traditional lane detection methods incorporate handcrafted or deep learning-based features…

Traditional visual place recognition (VPR) methods generally use frame-based cameras, which is easy to fail due to dramatic illumination changes or fast motions. In this paper, we propose an end-to-end visual place recognition network for…

Visual localization is the task of estimating a 6-DoF camera pose of a query image within a provided 3D reference map. Thanks to recent advances in various 3D sensors, 3D point clouds are becoming a more accurate and affordable option 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…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

Inter-vehicle distance and relative velocity estimations are two basic functions for any ADAS (Advanced driver-assistance systems). In this paper, we propose a monocular camera-based inter-vehicle distance and relative velocity estimation…

Detecting anomalies within point clouds is crucial for various industrial applications, but traditional unsupervised methods face challenges due to data acquisition costs, early-stage production constraints, and limited generalization…

LiDAR sensors are widely used in autonomous vehicles to better perceive the environment. However, prior works have shown that LiDAR signals can be spoofed to hide real objects from 3D object detectors. This study explores the feasibility of…

Monocular 3D object detection is an important task in autonomous driving. It can be easily intractable where there exists ego-car pose change w.r.t. ground plane. This is common due to the slight fluctuation of road smoothness and slope.…

In autonomous driving, detecting reliable and accurate lane marker positions is a crucial yet challenging task. The conventional approaches for the lane marker detection problem perform a pixel-level dense prediction task followed by…

Existing scene text spotting (i.e., end-to-end text detection and recognition) methods rely on costly bounding box annotations (e.g., text-line, word-level, or character-level bounding boxes). For the first time, we demonstrate that…