Related papers: RC-GeoCP: Geometric Consensus for Radar-Camera Col…
Collaborative perception holds great promise for improving safety in autonomous driving, particularly in dense traffic where vehicles can share sensory information to overcome individual blind spots and extend awareness. However, deploying…
Collaborative Perception (CP) has shown a promising technique for autonomous driving, where multiple connected and autonomous vehicles (CAVs) share their perception information to enhance the overall perception performance and expand the…
Relative pose estimation for RGBD cameras is crucial in a number of applications. Previous approaches either rely on the RGB aspect of the images to estimate pose thus not fully making use of depth in the estimation process or estimate pose…
By sharing information across multiple agents, collaborative perception helps autonomous vehicles mitigate occlusions and improve overall perception accuracy. While most previous work focus on vehicle-to-vehicle and…
Cross-view geo-localization plays a critical role in Unmanned Aerial Vehicle (UAV) localization and navigation. However, significant challenges arise from the drastic viewpoint differences and appearance variations between images. Existing…
Collaborative visual perception methods have gained widespread attention in the autonomous driving community in recent years due to their ability to address sensor limitation problems. However, the absence of explicit depth information…
Autonomous robots that assist humans in day to day living tasks are becoming increasingly popular. Autonomous mobile robots operate by sensing and perceiving their surrounding environment to make accurate driving decisions. A combination of…
The confluence of the advancement of Autonomous Vehicles (AVs) and the maturity of Vehicle-to-Everything (V2X) communication has enabled the capability of cooperative connected and automated vehicles (CAVs). Building on top of cooperative…
Millimeter-wave radar plays a vital role in 3D object detection for autonomous driving due to its all-weather and all-lighting-condition capabilities for perception. However, radar point clouds suffer from pronounced sparsity and…
Collaborative perception enables vehicles to overcome individual perception limitations by sharing information, allowing them to see further and through occlusions. In real-world scenarios, models on different vehicles are often…
In air-ground collaboration scenarios without GPS and prior maps, the relative positioning of drones and unmanned ground vehicles (UGVs) has always been a challenge. For a drone equipped with monocular camera and an UGV equipped with LiDAR…
Cooperative perception allows connected vehicles and roadside infrastructure to share sensor observations, creating a fused scene representation beyond the capability of any single platform. However, most cooperative 3D object detectors use…
While automated vehicles hold the potential to significantly reduce traffic accidents, their perception systems remain vulnerable to sensor degradation caused by adverse weather and environmental occlusions. Collective perception, which…
Accurate three-dimensional perception is essential for modern industrial robotic systems that perform manipulation, inspection, and navigation tasks. RGB-D and stereo vision sensors are widely used for this purpose, but the depth maps they…
Egocentric pose estimation for Augmented Reality (AR) and assistive devices requires not just accurate predictions but guaranteed uncertainty regions. Conformal prediction (CP) provides such guarantees without retraining, but we show that…
With the advancement of collaborative perception, the role of aerial-ground collaborative perception, a crucial component, is becoming increasingly important. The demand for collaborative perception across different perspectives to…
Collaborative perception (CP) is emerging as a promising solution to the inherent limitations of stand-alone intelligence. However, current wireless communication systems are unable to support feature-level and raw-level collaborative…
Multi-agent collaborative perception could significantly upgrade the perception performance by enabling agents to share complementary information with each other through communication. It inevitably results in a fundamental trade-off…
Environmental perception in Automated Valet Parking (AVP) has been a challenging task due to severe occlusions in parking garages. Although Collaborative Perception (CP) can be applied to broaden the field of view of connected vehicles, the…
This paper proposes a depth estimation method using radar-image fusion by addressing the uncertain vertical directions of sparse radar measurements. In prior radar-image fusion work, image features are merged with the uncertain sparse…