Related papers: UFO: Unifying Feed-Forward and Optimization-based …

Autonomous vehicles (AVs) rely on accurate trajectory prediction of surrounding vehicles to ensure the safety of both passengers and other road users. Trajectory prediction spans both short-term and long-term horizons, each requiring…

This paper focuses on a real-time vehicle detection and urban traffic behavior analysis system based on Unmanned Aerial Vehicle (UAV) traffic video. By using UAV to collect traffic data and combining the YOLOv8 model and SORT tracking…

Current 3D reconstruction techniques struggle to infer unbounded scenes from a few images faithfully. Specifically, existing methods have high computational demands, require detailed pose information, and cannot reconstruct occluded regions…

Driving scenes are extremely diverse and complicated that it is impossible to collect all cases with human effort alone. While data augmentation is an effective technique to enrich the training data, existing methods for camera data in…

We present a near real-time solution for 3D reconstruction from aerial images captured by consumer UAVs. Our core idea is to simplify the multi-view stereo problem into a series of two-view stereo matching problems. Our method applies to…

Camera equipped drones are nowadays being used to explore large scenes and reconstruct detailed 3D maps. When free space in the scene is approximately known, an offline planner can generate optimal plans to efficiently explore the scene.…

Hybrid pipelines that combine deep learning with classical optimization have established themselves as the dominant approach to visual odometry (VO). By integrating neural network predictions with bundle adjustment, these models estimate…

Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…

Advances in Unmanned Aerial Vehicle (UAV) opens venues for application such as tunnel inspection. Owing to its versatility to fly inside the tunnels, it can quickly identify defects and potential problems related to safety. However, long…

Vision-centric autonomous driving has recently raised wide attention due to its lower cost. Pre-training is essential for extracting a universal representation. However, current vision-centric pre-training typically relies on either 2D or…

The high mobility of unmanned aerial vehicles (UAVs) enables them to be used in various civilian fields, such as rescue and cargo transport. Path-following is a crucial way to perform these tasks while sensing and collision avoidance are…

Obstacle avoidance for Unmanned Aerial Vehicles (UAVs) in cluttered environments is significantly challenging. Existing obstacle avoidance for UAVs either focuses on fully static environments or static environments with only a few dynamic…

Existing studies on formation control for unmanned aerial vehicles (UAV) have not considered encircling targets where an optimum coverage of the target is required at all times. Such coverage plays a critical role in many real-world…

Generating high-fidelity, controllable, and annotated training data is critical for autonomous driving. Existing methods typically generate a single data form directly from a coarse scene layout, which not only fails to output rich data…

Research into dynamic 3D scene understanding has primarily focused on short-term change tracking from dense observations, while little attention has been paid to long-term changes with sparse observations. We address this gap with MoRE, a…

Realistic scene reconstruction in driving scenarios poses significant challenges due to fast-moving objects. Most existing methods rely on labor-intensive manual labeling of object poses to reconstruct dynamic objects in canonical space and…

Capturing general deforming scenes from monocular RGB video is crucial for many computer graphics and vision applications. However, current approaches suffer from drawbacks such as struggling with large scene deformations, inaccurate shape…

Search and rescue (SAR) operations require rapid responses to save lives or property. Unmanned Aerial Vehicles (UAVs) equipped with vision-based systems support these missions through prior terrain investigation or real-time assistance…

We present UniPlane, a novel method that unifies plane detection and reconstruction from posed monocular videos. Unlike existing methods that detect planes from local observations and associate them across the video for the final…

A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…