Related papers: IFTD: Image Feature Triangle Descriptor for Loop D…

Cooperatively utilizing both ego-vehicle and infrastructure sensor data can significantly enhance autonomous driving perception abilities. However, temporal asynchrony and limited wireless communication in traffic environments can lead to…

State-of-the-art methods for large-scale driving-scene LiDAR semantic segmentation often project and process the point clouds in the 2D space. The projection methods includes spherical projection, bird-eye view projection, etc. Although…

Feature detectors and descriptors are key low-level vision tools that many higher-level tasks build on. Unfortunately these fail in the presence of challenging light transport effects including partial occlusion, low contrast, and…

Recent advances in unsupervised domain adaptation have significantly improved the recognition accuracy of CNNs by alleviating the domain shift between (labeled) source and (unlabeled) target data distributions. While the problem of…

Safe autonomous agents and mobile robots need fast real time 3D perception, especially for vulnerable road users (VRUs) such as pedestrians. We introduce a new bird's eye view (BEV) encoding, which maps the full 3D LiDAR point cloud into a…

3D object detection is a critical task in autonomous driving. Recently multi-modal fusion-based 3D object detection methods, which combine the complementary advantages of LiDAR and camera, have shown great performance improvements over…

Understanding the motion states of the surrounding environment is critical for safe autonomous driving. These motion states can be accurately derived from scene flow, which captures the three-dimensional motion field of points. Existing…

In this paper, we explore incremental few-shot object detection (iFSD), which incrementally learns novel classes using only a few examples without revisiting base classes. Previous iFSD works achieved the desired results by applying…

We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…

3D object detection is a significant task for autonomous driving. Recently with the progress of vision transformers, the 2D object detection problem is being treated with the set-to-set loss. Inspired by these approaches on 2D object…

Achieving monocular camera localization within pre-built LiDAR maps can bypass the simultaneous mapping process of visual SLAM systems, potentially reducing the computational overhead of autonomous localization. To this end, one of the key…

3D object detection using LiDAR data remains a key task for applications like autonomous driving and robotics. Unlike in the case of 2D images, LiDAR data is almost always collected over a period of time. However, most work in this area has…

LiDAR sensors are essential for autonomous systems, yet LiDAR fiducial markers (LFMs) lag behind visual fiducial markers (VFMs) in adoption and utility. Bridging this gap is vital for robotics and computer vision but challenging due to the…

LiDAR point clouds have become the most common data source in autonomous driving. However, due to the sparsity of point clouds, accurate and reliable detection cannot be achieved in specific scenarios. Because of their complementarity with…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

Plant Phenomics based on imaging based techniques can be used to monitor the health and the diseases of plants and crops. The use of 3D data for plant phenomics is a recent phenomenon. However, since 3D point cloud contains more information…

Local feature extraction is a standard approach in computer vision for tackling important tasks such as image matching and retrieval. The core assumption of most methods is that images undergo affine transformations, disregarding more…

For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…

As one of the automotive sensors that have emerged in recent years, 4D millimeter-wave radar has a higher resolution than conventional 3D radar and provides precise elevation measurements. But its point clouds are still sparse and noisy,…

In this work, we address the challenging task of 3D object recognition without the reliance on real-world 3D labeled data. Our goal is to predict the 3D shape, size, and 6D pose of objects within a single RGB-D image, operating at the…