Related papers: Transfer Learning from Simulated to Real Scenes fo…

The 3D visual perception for vehicles with the surround-view fisheye camera system is a critical and challenging task for low-cost urban autonomous driving. While existing monocular 3D object detection methods perform not well enough on the…

Although deep-learning based methods for monocular pedestrian detection have made great progress, they are still vulnerable to heavy occlusions. Using multi-view information fusion is a potential solution but has limited applications, due…

Vehicular mobility underscores the need for collaborative misbehavior detection at the vehicular edge. However, locally trained misbehavior detection models are susceptible to adversarial attacks that aim to deliberately influence learning…

Robust semantic scene segmentation for automotive applications is a challenging problem in two key aspects: (1) labelling every individual scene pixel and (2) performing this task under unstable weather and illumination changes (e.g., foggy…

In this paper, we propose a new pipeline of training a monocular UAV to fly a collision-free trajectory along the dense forest trail. As gathering high-precision images in the real world is expensive and the off-the-shelf dataset has some…

In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of…

The success of deep learning in computer vision is based on availability of large annotated datasets. To lower the need for hand labeled images, virtually rendered 3D worlds have recently gained popularity. Creating realistic 3D content is…

Automotive traffic scenes are complex due to the variety of possible scenarios, objects, and weather conditions that need to be handled. In contrast to more constrained environments, such as automated underground trains, automotive…

Monocular 3D object detection is a fundamental but very important task to many applications including autonomous driving, robotic grasping and augmented reality. Existing leading methods tend to estimate the depth of the input image first,…

3D object detection with surround-view images is an essential task for autonomous driving. In this work, we propose DETR4D, a Transformer-based framework that explores sparse attention and direct feature query for 3D object detection in…

We present a method for jointly training the estimation of depth, ego-motion, and a dense 3D translation field of objects relative to the scene, with monocular photometric consistency being the sole source of supervision. We show that this…

Despite significant progress in monocular depth estimation in the wild, recent state-of-the-art methods cannot be used to recover accurate 3D scene shape due to an unknown depth shift induced by shift-invariant reconstruction losses used in…

Dynamic scene understanding is the ability of a computer system to interpret and make sense of the visual information present in a video of a real-world scene. In this thesis, we present a series of frameworks for dynamic scene…

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…

Realtime 4D reconstruction for dynamic scenes remains a crucial challenge for autonomous driving perception. Most existing methods rely on depth estimation through self-supervision or multi-modality sensor fusion. In this paper, we propose…

Object detection and object tracking are usually treated as two separate processes. Significant progress has been made for object detection in 2D images using deep learning networks. The usual tracking-by-detection pipeline for object…

Monocular 3D lane detection is essential for autonomous driving, but challenging due to the inherent lack of explicit spatial information. Multi-modal approaches rely on expensive depth sensors, while methods incorporating fully-supervised…

Scene flow estimation is an extremely important task in computer vision to support the perception of dynamic changes in the scene. For robust scene flow, learning-based approaches have recently achieved impressive results using either…

In the area of computer vision, deep learning has produced a variety of state-of-the-art models that rely on massive labeled data. However, collecting and annotating images from the real world has a great demand for labor and money…

Buses and heavy vehicles have more blind spots compared to cars and other road vehicles due to their large sizes. Therefore, accidents caused by these heavy vehicles are more fatal and result in severe injuries to other road users. These…