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The frame rates of most 3D LIDAR sensors used in intelligent vehicles are substantially lower than current cameras installed in the same vehicle. This research suggests using a mono camera to virtually enhance the frame rate of LIDARs,…
We propose a joint TDC and multi-time-gated imaging single-photon avalanche diode LiDAR sensor featuring a maximum detection range of 108m with a minimum depth resolution (least significant bit) of 2.93mm, fabricated in 110nm CMOS…
The growing prevalence of intelligent manufacturing and autonomous vehicles has intensified the demand for three-dimensional (3D) reconstruction under complex reflection and transmission conditions. Traditional structured light techniques…
Single-photon detector (SPD), an essential building block of the quantum communication system, plays a fundamental role in developing next-generation quantum technologies. In this work, we propose an efficient modeling workflow of nanowire…
Depth estimation is usually ill-posed and ambiguous for monocular camera-based 3D multi-person pose estimation. Since LiDAR can capture accurate depth information in long-range scenes, it can benefit both the global localization of…
With the rapid development of deep learning techniques, image saliency deep models trained solely by spatial information have occasionally achieved detection performance for video data comparable to that of the models trained by both…
Digitising the 3D world into a clean, CAD model-based representation has important applications for augmented reality and robotics. Current state-of-the-art methods are computationally intensive as they individually encode each detected…
We consider the problem of few-viewpoint 3D surface reconstruction using raw measurements from a lidar system. Lidar captures 3D scene geometry by emitting pulses of light to a target and recording the speed-of-light time delay of the…
A 2D model of an InGaAs/InAlAs single photon avalanche photodiode has been developed. The influence of the active area structure in the multiplication region on the diode's operating parameters has been studied. It was found that changing…
Recovering multi-person 3D poses with absolute scales from a single RGB image is a challenging problem due to the inherent depth and scale ambiguity from a single view. Addressing this ambiguity requires to aggregate various cues over the…
The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…
Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…
Saliency Object Detection (SOD) has several applications in image analysis. The methods have evolved from image-intrinsic to object-inspired (deep-learning-based) models. When a model fail, however, there is no alternative to enhance its…
We present a method for reconstructing 3D shape of arbitrary Lambertian objects based on measurements by miniature, energy-efficient, low-cost single-photon cameras. These cameras, operating as time resolved image sensors, illuminate the…
Structure from Motion (SfM) often fails to estimate accurate poses in environments that lack suitable visual features. In such cases, the quality of the final 3D mesh, which is contingent on the accuracy of those estimates, is reduced. One…
Panoptic segmentation, which combines instance and semantic segmentation, has gained a lot of attention in autonomous vehicles, due to its comprehensive representation of the scene. This task can be applied for cameras and LiDAR sensors,…
Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…
The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of Simultaneous Localization and Mapping (SLAM) systems. To achieve this, the gold standard is Bundle Adjustment (BA). Modern 3D LiDARs now retain higher…
End-to-end autonomous driving systems promise stronger performance through unified optimization of perception, motion forecasting, and planning. However, vision-based approaches face fundamental limitations in adverse weather conditions,…
Single shot detectors that are potentially faster and simpler than two-stage detectors tend to be more applicable to object detection in videos. Nevertheless, the extension of such object detectors from image to video is not trivial…