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Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…
Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…
Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…
Modern autonomous vehicle perception systems often struggle with occlusions and limited perception range. Previous studies have demonstrated the effectiveness of cooperative perception in extending the perception range and overcoming…
In Autonomous Driving (AD), detection and tracking of obstacles on the roads is a critical task. Deep-learning based methods using annotated LiDAR data have been the most widely adopted approach for this. Unfortunately, annotating 3D point…
The popularity of LiDAR devices and sensor technology has gradually empowered users from autonomous driving to forest monitoring, and research on 3D LiDAR has made remarkable progress over the years. Unlike 2D images, whose focused area is…
Autonomous driving systems are highly dependent on sensors like cameras, LiDAR, and inertial measurement units (IMU) to perceive the environment and estimate their motion. Among these sensors, perception-based sensors are not protected from…
Predicting how the world can evolve in the future is crucial for motion planning in autonomous systems. Classical methods are limited because they rely on costly human annotations in the form of semantic class labels, bounding boxes, and…
Autonomous perception requires high-quality environment sensing in the form of 3D bounding boxes of dynamic objects. The primary sensors used in automotive systems are light-based cameras and LiDARs. However, they are known to fail in…
Rain is one of the most common weather which can completely degrade the image quality and interfere with the performance of many computer vision tasks, especially under heavy rain conditions. We observe that: (i) rain is a mixture of rain…
Balancing cost and performance is crucial when choosing high- versus low-resolution point-cloud roadside sensors. For example, LiDAR delivers dense point cloud, while 4D millimeter-wave radar, though spatially sparser, embeds velocity cues…
In the context of autonomous driving, vehicles are inherently bound to encounter more extreme weather during which public safety must be ensured. As climate is quickly changing, the frequency of heavy snowstorms is expected to increase and…
There has been great progress in improving numerical weather prediction and climate models using machine learning. However, most global models act at a kilometer-scale, making it challenging to model individual clouds and factors such as…
Concurrent perception datasets for autonomous driving are mainly limited to frontal view with sensors mounted on the vehicle. None of them is designed for the overlooked roadside perception tasks. On the other hand, the data captured from…
In the context of Intelligent Transportation Systems (ITS), efficient data compression is crucial for managing large-scale point cloud data acquired by roadside LiDAR sensors. The demand for efficient storage, streaming, and real-time…
Recent advancements in lidar technology have led to improved point cloud resolution as well as the generation of 360 degrees, low-resolution images by encoding depth, reflectivity, or near-infrared light within each pixel. These images…
Autonomous vehicles operate in a dynamic environment, where the speed with which a vehicle can perceive and react impacts the safety and efficacy of the system. LiDAR provides a prominent sensory modality that informs many existing…
Weather conditions often disrupt the proper functioning of transportation systems. Present systems either deploy an array of sensors or use an in-vehicle camera to predict weather conditions. These solutions have resulted in incremental…
The use of infrastructure sensor technology for traffic detection has already been proven several times. However, extrinsic sensor calibration is still a challenge for the operator. While previous approaches are unable to calibrate the…
Change detection from traditional \added{2D} optical images has limited capability to model the changes in the height or shape of objects. Change detection using 3D point cloud \added{from photogrammetry or LiDAR surveying} can fill this…