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An autonomous driving system requires a 3D object detector, which must perceive all present road agents reliably to navigate an environment safely. However, real-world driving datasets often suffer from the problem of data imbalance, which…

In recent years, autonomous driving has significantly in creased the demand for high-quality data to train 2D and 3D perception models for safety-critical scenarios. Real world datasets struggle to meet this demand as require ments…

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…

With the prosperity of the video surveillance, multiple cameras have been applied to accurately locate pedestrians in a specific area. However, previous methods rely on the human-labeled annotations in every video frame and camera view,…

Multi-agent cooperative perception is an increasingly popular topic in the field of autonomous driving, where roadside LiDARs play an essential role. However, how to optimize the placement of roadside LiDARs is a crucial but often…

Road boundaries, or curbs, provide autonomous vehicles with essential information when interpreting road scenes and generating behaviour plans. Although curbs convey important information, they are difficult to detect in complex urban…

We introduce an on-ground Pedestrian World Model, a computational model that can predict how pedestrians move around an observer in the crowd on the ground plane, but from just the egocentric-views of the observer. Our model, InCrowdFormer,…

The problem of multi-object tracking is a fundamental computer vision research focus, widely used in public safety, transport, autonomous vehicles, robotics, and other regions involving artificial intelligence. Because of the complexity of…

Detecting individual pedestrians in a crowd remains a challenging problem since the pedestrians often gather together and occlude each other in real-world scenarios. In this paper, we first explore how a state-of-the-art pedestrian detector…

Semi-supervised 3D object detection is a common strategy employed to circumvent the challenge of manually labeling large-scale autonomous driving perception datasets. Pseudo-labeling approaches to semi-supervised learning adopt a…

We propose a simple yet effective proposal-based object detector, aiming at detecting highly-overlapped instances in crowded scenes. The key of our approach is to let each proposal predict a set of correlated instances rather than a single…

Autonomous driving is an exciting new industry, posing important research questions. Within the perception module, 3D human pose estimation is an emerging technology, which can enable the autonomous vehicle to perceive and understand the…

Accurate people localisation using drones is crucial for effective crowd management, not only during massive events and public gatherings but also for monitoring daily urban crowd flow. Traditional methods for tiny object localisation using…

In spite of the recent advancements in multi-object tracking, occlusion poses a significant challenge. Multi-camera setups have been used to address this challenge by providing a comprehensive coverage of the scene. Recent multi-view…

LiDAR-based 3D detection plays a vital role in autonomous navigation. Surprisingly, although autonomous vehicles (AVs) must detect both near-field objects (for collision avoidance) and far-field objects (for longer-term planning),…

Pedestrian detection is a critical task in autonomous driving, aimed at enhancing safety and reducing risks on the road. Over recent years, significant advancements have been made in improving detection performance. However, these…

LiDAR provides accurate geometric measurements of the 3D world. Unfortunately, dense LiDARs are very expensive and the point clouds captured by low-beam LiDAR are often sparse. To address these issues, we present UltraLiDAR, a data-driven…

We hypothesize that an agent that can look around in static scenes can learn rich visual representations applicable to 3D object tracking in complex dynamic scenes. We are motivated in this pursuit by the fact that the physical world itself…

3D perception based on the representations learned from multi-camera bird's-eye-view (BEV) is trending as cameras are cost-effective for mass production in autonomous driving industry. However, there exists a distinct performance gap…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…