Related papers: CAMAv2: A Vision-Centric Approach for Static Map E…

Vectorized High-Definition (HD) map construction requires predictions of the category and point coordinates of map elements (e.g. road boundary, lane divider, pedestrian crossing, etc.). State-of-the-art methods are mainly based on…

Vision Transformers (ViTs) have achieved state-of-the-art results on various computer vision tasks, including 3D object detection. However, their end-to-end implementation also makes ViTs less explainable, which can be a challenge for…

We address the task of aligning CAD models to a video sequence of a complex scene containing multiple objects. Our method can process arbitrary videos and fully automatically recover the 9 DoF pose for each object appearing in it, thus…

Vehicle re-identification helps in distinguishing between images of the same and other vehicles. It is a challenging process because of significant intra-instance differences between identical vehicles from different views and subtle…

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.…

3D object detection has become indispensable in the field of autonomous driving. To date, gratifying breakthroughs have been recorded in 3D object detection research, attributed to deep learning. However, deep learning algorithms are…

Image segmentation is a powerful computer vision technique for scene understanding. However, real-world deployment is stymied by the need for high-quality, meticulously labeled datasets. Synthetic data provides high-quality labels while…

Accurate ground truth annotations are critical to supervised learning and evaluating the performance of autonomous vehicle systems. These vehicles are typically equipped with active sensors, such as LiDAR, which scan the environment in…

In this paper, we focus on the semantic image synthesis task that aims at transferring semantic label maps to photo-realistic images. Existing methods lack effective semantic constraints to preserve the semantic information and ignore the…

The increase in data collection has made data annotation an interesting and valuable task in the contemporary world. This paper presents a new methodology for quickly annotating data using click-supervision and hierarchical object…

Video object segmentation methods like SAM2 achieve strong performance through memory-based architectures but struggle under large viewpoint changes due to reliance on appearance features. Traditional 3D instance segmentation methods…

3D object detection has recently received much attention due to its great potential in autonomous vehicle (AV). The success of deep learning based object detectors relies on the availability of large-scale annotated datasets, which is…

Accurate and robust object detection is critical for autonomous driving. Image-based detectors face difficulties caused by low visibility in adverse weather conditions. Thus, radar-camera fusion is of particular interest but presents…

Constructing HD semantic maps is a central component of autonomous driving. However, traditional pipelines require a vast amount of human efforts and resources in annotating and maintaining the semantics in the map, which limits its…

We introduce Fluid Annotation, an intuitive human-machine collaboration interface for annotating the class label and outline of every object and background region in an image. Fluid annotation is based on three principles: (I) Strong…

Vectorized HD map is essential for autonomous driving. Remarkable work has been achieved in recent years, but there are still major issues: (1) in the generation of the BEV features, single modality-based methods are of limited perception…

Image alignment and image restoration are classical computer vision tasks. However, there is still a lack of datasets that provide enough data to train and evaluate end-to-end deep learning models. Obtaining ground-truth data for image…

Deployment of deep learning models in robotics as sensory information extractors can be a daunting task to handle, even using generic GPU cards. Here, we address three of its most prominent hurdles, namely, i) the adaptation of a single…

Robust localization is the cornerstone of autonomous driving, especially in challenging urban environments where GPS signals suffer from multipath errors. Traditional localization approaches rely on high-definition (HD) maps, which consist…

Pose estimation of the human body and hands is a fundamental problem in computer vision, and learning-based solutions require a large amount of annotated data. In this work, we improve the efficiency of the data annotation process for 3D…