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Monocular 3D object detection is a fundamental yet challenging task in 3D scene understanding. Existing approaches heavily depend on supervised learning with extensive 3D annotations, which are often acquired from LiDAR point clouds through…

Monocular 3D object detection has become a mainstream approach in automatic driving for its easy application. A prominent advantage is that it does not need LiDAR point clouds during the inference. However, most current methods still rely…

Reconstructing accurate 3D surfaces for street-view scenarios is crucial for applications such as digital entertainment and autonomous driving simulation. However, existing street-view datasets, including KITTI, Waymo, and nuScenes, only…

Mapping and 3D detection are two major issues in vision-based robotics, and self-driving. While previous works only focus on each task separately, we present an innovative and efficient multi-task deep learning framework (SM3D) for…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

Integrating different representations from complementary sensing modalities is crucial for robust scene interpretation in autonomous driving. While deep learning architectures that fuse vision and range data for 2D object detection have…

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance…

Accurate 7DoF prediction of vehicles at an intersection is an important task for assessing potential conflicts between road users. In principle, this could be achieved by a single camera system that is capable of detecting the pose of each…

3D semantic segmentation plays a pivotal role in autonomous driving and road infrastructure analysis, yet state-of-the-art 3D models are prone to severe domain shift when deployed across different datasets. In this paper, we propose an…

As perception models continue to develop, the need for large-scale datasets increases. However, data annotation remains far too expensive to effectively scale and meet the demand. Synthetic datasets provide a solution to boost model…

Although existing Sparsely Annotated Object Detection (SAOD) approches have made progress in handling sparsely annotated environments in multispectral domain, where only some pedestrians are annotated, they still have the following…

Roadside perception can greatly increase the safety of autonomous vehicles by extending their perception ability beyond the visual range and addressing blind spots. However, current state-of-the-art vision-based roadside detection methods…

This article presents UrbanTwin datasets, high-fidelity, realistic replicas of three public roadside lidar datasets: LUMPI, V2X-Real-IC, and TUMTraf-I. Each UrbanTwin dataset contains 10K annotated frames corresponding to one of the public…

Detecting vehicles and representing their position and orientation in the three dimensional space is a key technology for autonomous driving. Recently, methods for 3D vehicle detection solely based on monocular RGB images gained popularity.…

In autonomous driving, The perception capabilities of the ego-vehicle can be improved with roadside sensors, which can provide a holistic view of the environment. However, existing monocular detection methods designed for vehicle cameras…

The increasing applications of autonomous driving systems necessitates large-scale, high-quality datasets to ensure robust performance across diverse scenarios. Synthetic data has emerged as a viable solution to augment real-world datasets…

We propose a novel and pragmatic framework for traffic scene perception with roadside cameras. The proposed framework covers a full-stack of roadside perception pipeline for infrastructure-assisted autonomous driving, including object…

Underexposure regions are vital to construct a complete perception of the surroundings for safe autonomous driving. The availability of thermal cameras has provided an essential alternate to explore regions where other optical sensors lack…

Accurate 3D object perception and multi-target multi-camera (MTMC) tracking are fundamental for the digital transformation of industrial infrastructure. However, transitioning "inside-out" autonomous driving models to "outside-in" static…

Monocular 3D object detection (Mono3D) has achieved unprecedented success with the advent of deep learning techniques and emerging large-scale autonomous driving datasets. However, drastic performance degradation remains an unwell-studied…