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Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…

The on-board 3D object detection technology has received extensive attention as a critical technology for autonomous driving, while few studies have focused on applying roadside sensors in 3D traffic object detection. Existing studies…

Monocular 3D scene understanding tasks, such as object size estimation, heading angle estimation and 3D localization, is challenging. Successful modern day methods for 3D scene understanding require the use of a 3D sensor. On the other…

Precise localization is a core ability of an autonomous vehicle. It is a prerequisite for motion planning and execution. The well-established localization approaches such as Kalman and particle filters require a probabilistic observation…

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,…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

Obstacle detection is one of the basic tasks of a robot movement in an unknown environment. The use of a LiDAR (Light Detection And Ranging) sensor allows one to obtain a point cloud in the vicinity of the sensor. After processing this…

Estimating 3D bounding boxes from monocular images is an essential component in autonomous driving, while accurate 3D object detection from this kind of data is very challenging. In this work, by intensive diagnosis experiments, we quantify…

Multi-sensor fusion of multi-modal measurements from commodity inertial, visual and LiDAR sensors to provide robust and accurate 6DOF pose estimation holds great potential in robotics and beyond. In this paper, building upon our prior work…

Vehicle object detection benefits from both LiDAR and camera data, with LiDAR offering superior performance in many scenarios. Fusion of these modalities further enhances accuracy, but existing methods often introduce complexity or…

Object detection and classification in 3D is a key task in Automated Driving (AD). LiDAR sensors are employed to provide the 3D point cloud reconstruction of the surrounding environment, while the task of 3D object bounding box detection in…

Fusing different sensor modalities can be a difficult task, particularly if they are asynchronous. Asynchronisation may arise due to long processing times or improper synchronisation during calibration, and there must exist a way to still…

Weak lensing by large-scale structure is a powerful probe of cosmology if the apparent alignments in the shapes of distant galaxies can be accurately measured. Most studies have therefore focused on improving the fidelity of the shape…

Scene flow is the dense 3D reconstruction of motion and geometry of a scene. Most state-of-the-art methods use a pair of stereo images as input for full scene reconstruction. These methods depend a lot on the quality of the RGB images and…

Modern approaches for vision-centric environment perception for autonomous navigation make extensive use of self-supervised monocular depth estimation algorithms that output disparity maps. However, when this disparity map is projected onto…

Estimating a 6DOF object pose from a single image is very challenging due to occlusions or textureless appearances. Vector-field based keypoint voting has demonstrated its effectiveness and superiority on tackling those issues. However,…

3D object detection within large 3D scenes is challenging not only due to the sparsity and irregularity of 3D point clouds, but also due to both the extreme foreground-background scene imbalance and class imbalance. A common approach is to…

This study presents an open source method for detecting 3D printing anomalies by comparing images of printed layers from a stationary monocular camera with G-code-based reference images of an ideal process generated with Blender, a physics…

The goal of this paper is to classify objects mapped by LiDAR sensor into different classes such as vehicles, pedestrians and bikers. Utilizing a LiDAR-based object detector and Neural Networks-based classifier, a novel real-time object…