Related papers: $\nu$-DBA: Neural Implicit Dense Bundle Adjustment…

Decompositional reconstruction of 3D scenes, with complete shapes and detailed texture of all objects within, is intriguing for downstream applications but remains challenging, particularly with sparse views as input. Recent approaches…

We propose a distributed bundle adjustment (DBA) method using the exact Levenberg-Marquardt (LM) algorithm for super large-scale datasets. Most of the existing methods partition the global map to small ones and conduct bundle adjustment in…

Synthesis of diverse driving scenes serves as a crucial data augmentation technique for validating the robustness and generalizability of autonomous driving systems. Current methods aggregate high-definition (HD) maps and 3D bounding boxes…

Neural implicit surface representations have recently emerged as popular alternative to explicit 3D object encodings, such as polygonal meshes, tabulated points, or voxels. While significant work has improved the geometric fidelity of these…

Autonomous Driving (AD) systems exhibit markedly degraded performance under adverse environmental conditions, such as low illumination and precipitation. The underrepresentation of adverse conditions in AD datasets makes it challenging to…

As a popular geometric representation, point clouds have attracted much attention in 3D vision, leading to many applications in autonomous driving and robotics. One important yet unsolved issue for learning on point cloud is that point…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

We propose an end-to-end real time framework to generate high resolution graphics grade textured 3D map of urban environment. The generated detailed map finds its application in the precise localization and navigation of autonomous…

Steering estimation is a critical task in autonomous driving, traditionally relying on 2D image-based models. In this work, we explore the advantages of incorporating 3D spatial information through hybrid architectures that combine 3D…

LiDAR-based 3D detection has made great progress in recent years. However, the performance of 3D detectors is considerably limited when deployed in unseen environments, owing to the severe domain gap problem. Existing domain adaptive 3D…

Fusing data from LiDAR and camera is conceptually attractive because of their complementary properties. For instance, camera images are higher resolution and have colors, while LiDAR data provide more accurate range measurements and have a…

Most existing approaches to autonomous driving fall into one of two categories: modular pipelines, that build an extensive model of the environment, and imitation learning approaches, that map images directly to control outputs. A recently…

Implicit neural representations have emerged as a powerful tool in learning 3D geometry, offering unparalleled advantages over conventional representations like mesh-based methods. A common type of INR implicitly encodes a shape's boundary…

The monocular depth estimation task has recently revealed encouraging prospects, especially for the autonomous driving task. To tackle the ill-posed problem of 3D geometric reasoning from 2D monocular images, multi-frame monocular methods…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

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…

Neural rendering methods can achieve near-photorealistic image synthesis of scenes from posed input images. However, when the images are imperfect, e.g., captured in very low-light conditions, state-of-the-art methods fail to reconstruct…

Existing volumetric neural rendering techniques, such as Neural Radiance Fields (NeRF), face limitations in synthesizing high-quality novel views when the camera poses of input images are imperfect. To address this issue, we propose a novel…

The rapid development of 3D object detection systems for self-driving cars has significantly improved accuracy. However, these systems struggle to generalize across diverse driving environments, which can lead to safety-critical failures in…

In autonomous driving, vision-centric 3D object detection recognizes and localizes 3D objects from RGB images. However, due to high annotation costs and diverse outdoor scenes, training data often fails to cover all possible test scenarios,…