Related papers: LiDAR-MIMO: Efficient Uncertainty Estimation for L…

3D object detection is a fundamental and challenging task for 3D scene understanding, and the monocular-based methods can serve as an economical alternative to the stereo-based or LiDAR-based methods. However, accurately detecting objects…

Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…

Unmanned surface vehicles (USVs) and boats are increasingly important in maritime operations, yet their deployment is limited due to costly sensors and complexity. LiDAR, radar, and depth cameras are either costly, yield sparse point clouds…

Per-object distance estimation is critical in surveillance and autonomous driving, where safety is crucial. While existing methods rely on geometric or deep supervised features, only a few attempts have been made to leverage self-supervised…

Pseudo-LiDAR-based methods for monocular 3D object detection have received considerable attention in the community due to the performance gains exhibited on the KITTI3D benchmark, in particular on the commonly reported validation split.…

The combination of LiDAR and camera modalities is proven to be necessary and typical for 3D object detection according to recent studies. Existing fusion strategies tend to overly rely on the LiDAR modal in essence, which exploits the…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…

In the last decades, Light Detection And Ranging (LiDAR) technology has been extensively explored as a robust alternative for self-localization and mapping. These approaches typically state ego-motion estimation as a non-linear optimization…

The potentials of automotive radar for autonomous driving have not been fully exploited. We present a multi-input multi-output (MIMO) radar transmit and receive signal processing chain, a knowledge-aided approach exploiting the radar domain…

When incorporating deep neural networks into robotic systems, a major challenge is the lack of uncertainty measures associated with their output predictions. Methods for uncertainty estimation in the output of deep object detectors (DNNs)…

In recent years, thanks to the continuously reduced cost and weight of 3D Lidar, the applications of this type of sensor in robotics community have become increasingly popular. Despite many progresses, estimation drift and tracking loss are…

Recent advances in monocular 3D detection leverage a depth estimation network explicitly as an intermediate stage of the 3D detection network. Depth map approaches yield more accurate depth to objects than other methods thanks to the depth…

With the widespread application of Light Detection and Ranging (LiDAR) technology in fields such as autonomous driving, robot navigation, and terrain mapping, the importance of edge detection in LiDAR images has become increasingly…

The rotation robustness property has drawn much attention to point cloud analysis, whereas it still poses a critical challenge in 3D object detection. When subjected to arbitrary rotation, most existing detectors fail to produce expected…

Monocular 3D object detection (M3OD) is a significant yet inherently challenging task in autonomous driving due to absence of explicit depth cues in a single RGB image. In this paper, we strive to boost currently underperforming monocular…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

When localizing and detecting 3D objects for autonomous driving scenes, obtaining information from multiple sensor (e.g. camera, LIDAR) typically increases the robustness of 3D detectors. However, the efficient and effective fusion of…

Understanding driving situations regardless the conditions of the traffic scene is a cornerstone on the path towards autonomous vehicles; however, despite common sensor setups already include complementary devices such as LiDAR or radar,…

Ego-motion estimation is a fundamental requirement for most mobile robotic applications. By sensor fusion, we can compensate the deficiencies of stand-alone sensors and provide more reliable estimations. We introduce a tightly coupled…

In recent years, the LiDAR images, as a 2D compact representation of 3D LiDAR point clouds, are widely applied in various tasks, e.g., 3D semantic segmentation, LiDAR point cloud compression (PCC). Among these works, the optical flow…