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Although deep-learning based methods for monocular pedestrian detection have made great progress, they are still vulnerable to heavy occlusions. Using multi-view information fusion is a potential solution but has limited applications, due…

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…

Motion planning for safe autonomous driving requires learning how the environment around an ego-vehicle evolves with time. Ego-centric perception of driveable regions in a scene not only changes with the motion of actors in the environment,…

Multi-camera 3D perception has emerged as a prominent research field in autonomous driving, offering a viable and cost-effective alternative to LiDAR-based solutions. The existing multi-camera algorithms primarily rely on monocular 2D…

Monocular depth estimation is known as an ill-posed task in which objects in a 2D image usually do not contain sufficient information to predict their depth. Thus, it acts differently from other tasks (e.g., classification and segmentation)…

A detailed environment representation is a crucial component of automated vehicles. Using single range sensor scans, data is often too sparse and subject to occlusions. Therefore, we present a method to augment occupancy grid maps from…

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…

Despite monocular 3D object detection having recently made a significant leap forward thanks to the use of pre-trained depth estimators for pseudo-LiDAR recovery, such two-stage methods typically suffer from overfitting and are incapable of…

Autonomous driving requires robust perception across diverse environmental conditions, yet 3D semantic occupancy prediction remains challenging under adverse weather and lighting. In this work, we present the first study combining 4D radar…

3D scene reconstruction from a single measurement is challenging, especially in the presence of occluded regions and specular materials, such as mirrors. We address these challenges by leveraging single-photon lidars. These lidars estimate…

Monocular visual odometry consists of the estimation of the position of an agent through images of a single camera, and it is applied in autonomous vehicles, medical robots, and augmented reality. However, monocular systems suffer from the…

Most real-world 3D sensors such as LiDARs perform fixed scans of the entire environment, while being decoupled from the recognition system that processes the sensor data. In this work, we propose a method for 3D object recognition using…

Current methods for depth map prediction from monocular images tend to predict smooth, poorly localized contours for the occlusion boundaries in the input image. This is unfortunate as occlusion boundaries are important cues to recognize…

As object detectors rapidly improve, attention has expanded past image-only networks to include a range of 3D and multimodal frameworks, especially ones that incorporate LiDAR. However, due to cost, logistics, and even some safety…

Recognizing and localizing objects in the 3D space is a crucial ability for an AI agent to perceive its surrounding environment. While significant progress has been achieved with expensive LiDAR point clouds, it poses a great challenge for…

Visual-based 3D semantic occupancy perception is a key technology for robotics, including autonomous vehicles, offering an enhanced understanding of the environment by 3D. This approach, however, typically requires more computational…

Autonomous driving has the potential to significantly enhance productivity and provide numerous societal benefits. Ensuring robustness in these safety-critical systems is essential, particularly when vehicles must navigate adverse weather…

Self-localization on a 3D map by using an inexpensive monocular camera is required to realize autonomous driving. Self-localization based on a camera often uses a convolutional neural network (CNN) that can extract local features that are…

Obstacle detection and tracking represent a critical component in robot autonomous navigation. In this paper, we propose ODTFormer, a Transformer-based model to address both obstacle detection and tracking problems. For the detection task,…

Pseudo-LiDAR 3D detectors have made remarkable progress in monocular 3D detection by enhancing the capability of perceiving depth with depth estimation networks, and using LiDAR-based 3D detection architectures. The advanced stereo 3D…