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With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…

Existing work on object detection often relies on a single form of annotation: the model is trained using either accurate yet costly bounding boxes or cheaper but less expressive image-level tags. However, real-world annotations are often…

Predicting future behaviors of road agents is a key task in autonomous driving. While existing models have demonstrated great success in predicting marginal agent future behaviors, it remains a challenge to efficiently predict consistent…

In this technical report, we present our solution for the Vision-Centric 3D Occupancy and Flow Prediction track in the nuScenes Open-Occ Dataset Challenge at CVPR 2024. Our innovative approach involves a dual-stage framework that enhances…

World models envision potential future states based on various ego actions. They embed extensive knowledge about the driving environment, facilitating safe and scalable autonomous driving. Most existing methods primarily focus on either…

A real-time semantic 3D occupancy mapping framework is proposed in this paper. The mapping framework is based on the Bayesian kernel inference strategy from the literature. Two novel free space representations are proposed to efficiently…

We introduce a dual contouring method that provides state-of-the-art performance for occupancy functions while achieving computation times of a few seconds. Our method is learning-free and carefully designed to maximize the use of GPU…

LiDAR-based 3D occupancy prediction evolved rapidly alongside the emergence of large datasets. Nevertheless, the potential of existing diverse datasets remains underutilized as they kick in individually. Models trained on a specific dataset…

Humans tend to mine objects by learning from a group of images or several frames of video since we live in a dynamic world. In the computer vision area, many researches focus on co-segmentation (CoS), co-saliency detection (CoSD) and video…

This paper proposes an efficient, low-complexity and anchor-free object detector based on the state-of-the-art YOLO framework, which can be implemented in real time on edge computing platforms. We develop an enhanced data augmentation…

3D instance segmentation, with a variety of applications in robotics and augmented reality, is in large demands these days. Unlike 2D images that are projective observations of the environment, 3D models provide metric reconstruction of the…

Image matching is a fundamental and critical task in various visual applications, such as Simultaneous Localization and Mapping (SLAM) and image retrieval, which require accurate pose estimation. However, most existing methods ignore the…

In this work, we present a novel scheduling framework enabling anytime perception for deep neural network (DNN) based 3D object detection pipelines. We focus on computationally expensive region proposal network (RPN) and per-category…

Accurate depth information is crucial for enhancing the performance of multi-view 3D object detection. Despite the success of some existing multi-view 3D detectors utilizing pixel-wise depth supervision, they overlook two significant…

Drones have proven to be useful in many industry segments such as security and surveillance, where e.g. on-board real-time object tracking is a necessity for autonomous flying guards. Tracking and following suspicious objects is therefore…

Spurred by consistent advances and innovation in deep learning, object detection applications have become prevalent, particularly in autonomous driving that leverages various visual data. As convolutional neural networks (CNNs) are being…

As the volume of image data grows, data-oriented cloud computing in Internet of Video Things (IoVT) systems encounters latency issues. Task-oriented edge computing addresses this by shifting data analysis to the edge. However, limited…

Object detection is a critical problem for the safe interaction between autonomous vehicles and road users. Deep-learning methodologies allowed the development of object detection approaches with better performance. However, there is still…

Object detection is a crucial task for autonomous driving. In addition to requiring high accuracy to ensure safety, object detection for autonomous driving also requires real-time inference speed to guarantee prompt vehicle control, as well…

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…