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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…

Monocular 3D vehicle localization is an important task in Intelligent Transportation System (ITS) and Cooperative Vehicle Infrastructure System (CVIS), which is usually achieved by monocular 3D vehicle detection. However, depth information…

To accommodate rapid changes in the real world, the cognition system of humans is capable of continually learning concepts. On the contrary, conventional deep learning models lack this capability of preserving previously learned knowledge.…

Monocular 3D object detection (M3OD) has long faced challenges due to data scarcity caused by high annotation costs and inherent 2D-to-3D ambiguity. Although various weakly supervised methods and pseudo-labeling methods have been proposed…

3D object detection is vital as it would enable us to capture objects' sizes, orientation, and position in the world. As a result, we would be able to use this 3D detection in real-world applications such as Augmented Reality (AR),…

Depth Estimation and Object Detection Recognition play an important role in autonomous driving technology under the guidance of deep learning artificial intelligence. We propose a hybrid structure called RealNet: a co-design method…

Weakly supervised monocular 3D detection, while less annotation-intensive, often struggles to capture the global context required for reliable 3D reasoning. Conventional label-efficient methods focus on object-centric features, neglecting…

Car detection, particularly through camera vision, has become a major focus in the field of computer vision and has gained widespread adoption. While current car detection systems are capable of good detection, reliable detection can still…

Collaborative perception has recently gained significant attention in autonomous driving, improving perception quality by enabling the exchange of additional information among vehicles. However, deploying collaborative perception systems…

Traditional object detection models are typically trained on a fixed set of classes, limiting their flexibility and making it costly to incorporate new categories. Open-vocabulary object detection addresses this limitation by enabling…

Recent LiDAR-based 3D Object Detection (3DOD) methods show promising results, but they often do not generalize well to target domains outside the source (or training) data distribution. To reduce such domain gaps and thus to make 3DOD…

Monocular visual odometry (VO) is an important task in robotics and computer vision. Thus far, how to build accurate and robust monocular VO systems that can work well in diverse scenarios remains largely unsolved. In this paper, we propose…

Object perception plays a fundamental role in Cooperative Driving Automation (CDA) which is regarded as a revolutionary promoter for the next-generation transportation systems. However, the vehicle-based perception may suffer from the…

Vehicle 3D extents and trajectories are critical cues for predicting the future location of vehicles and planning future agent ego-motion based on those predictions. In this paper, we propose a novel online framework for 3D vehicle…

Open-world object detection (OWOD) requires incrementally detecting known categories while reliably identifying unknown objects. Existing methods primarily focus on improving unknown recall, yet overlook interpretability, often leading to…

3D object detectors are fundamental components of perception systems in autonomous vehicles. While these detectors achieve remarkable performance on standard autonomous driving benchmarks, they often struggle to generalize across different…

Object detection is a crucial component in autonomous vehicle systems. It enables the vehicle to perceive and understand its environment by identifying and locating various objects around it. By utilizing advanced imaging and deep learning…

Vehicle-Infrastructure Collaborative Perception (VICP) is pivotal for resolving occlusion in autonomous driving, yet the trade-off between communication bandwidth and feature redundancy remains a critical bottleneck. While intermediate…

3D lane detection is essential in autonomous driving as it extracts structural and traffic information from the road in three-dimensional space, aiding self-driving cars in logical, safe, and comfortable path planning and motion control.…

3D semantic occupancy prediction aims to forecast detailed geometric and semantic information of the surrounding environment for autonomous vehicles (AVs) using onboard surround-view cameras. Existing methods primarily focus on intricate…