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Modern cars are incorporating an increasing number of driver assist features, among which automatic lane keeping. The latter allows the car to properly position itself within the road lanes, which is also crucial for any subsequent lane…

Accurately estimating the position of static objects, such as traffic lights, from the moving camera of a self-driving car is a challenging problem. In this work, we present a system that improves the localization of static objects by…

Visual place recognition tasks often encounter significant challenges in landmark detection due to the presence of irrelevant objects such as humans, cars, and trees, despite the remarkable progress achieved by previous models, especially…

Vision-based localization in a prior map is of crucial importance for autonomous vehicles. Given a query image, the goal is to estimate the camera pose corresponding to the prior map, and the key is the registration problem of camera images…

We present a visual localization framework based on novel deep attention aware features for autonomous driving that achieves centimeter level localization accuracy. Conventional approaches to the visual localization problem rely on…

Provident detection of other road users at night has the potential for increasing road safety. For this purpose, humans intuitively use visual cues, such as light cones and light reflections emitted by other road users to be able to react…

Determining the vanishing points (VPs) in a Manhattan world, as a fundamental task in many 3D vision applications, consists of jointly inferring the line-VP association and locating each VP. Existing methods are, however, either sub-optimal…

In this paper, we study the representation of the shape and pose of objects using their keypoints. Therefore, we propose an end-to-end method that simultaneously detects 2D keypoints from an image and lifts them to 3D. The proposed method…

The increase in vehicle ownership has led to increased traffic congestion, more accidents, and higher carbon emissions. Vehicle platooning is a promising solution to address these issues by improving road capacity and reducing fuel…

Visual Place Recognition (VPR) is a core component in computer vision, typically formulated as an image retrieval task for localization, mapping, and navigation. In this work, we instead study VPR as an image pair retrieval front-end for…

Localizing predefined 3D keypoints in a 2D image is an effective way to establish 3D-2D correspondences for instance-level 6DoF object pose estimation. However, unreliable localization results of invisible keypoints degrade the quality of…

Visual place recognition (VPR) - the act of recognizing a familiar visual place - becomes difficult when there is extreme environmental appearance change or viewpoint change. Particularly challenging is the scenario where both phenomena…

Learning to localize objects with minimal supervision is an important problem in computer vision, since large fully annotated datasets are extremely costly to obtain. In this paper, we propose a new method that achieves this goal with only…

The estimation of implicit cross-frame correspondences and the high computational cost have long been major challenges in video semantic segmentation (VSS) for driving scenes. Prior works utilize keyframes, feature propagation, or…

For autonomous navigation, accurate localization with respect to a map is needed. In urban environments, infrastructure such as buildings or bridges cause major difficulties to Global Navigation Satellite Systems (GNSS) and, despite…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

Current vision language pretraining models are dominated by methods using region visual features extracted from object detectors. Given their good performance, the extract-then-process pipeline significantly restricts the inference speed…

One of the most relevant tasks in an intelligent vehicle navigation system is the detection of obstacles. It is important that a visual perception system for navigation purposes identifies obstacles, and it is also important that this…

Object localization, and more specifically object pose estimation, in large industrial spaces such as warehouses and production facilities, is essential for material flow operations. Traditional approaches rely on artificial artifacts…

Can knowing where you are assist in perceiving objects in your surroundings, especially under adverse weather and lighting conditions? In this work we investigate whether a prior map can be leveraged to aid in the detection of dynamic…