Related papers: LiDAR Prompted Spatio-Temporal Multi-View Stereo f…

Multi-View Stereo~(MVS) is a fundamental problem in geometric computer vision which aims to reconstruct a scene using multi-view images with known camera parameters. However, the mainstream approaches represent the scene with a fixed…

Autonomous Vehicles (AVs) need an accurate and up-to-date representation of the environment for safe navigation. Traditional methods, which often rely on detailed environmental representations constructed offline, struggle in dynamically…

LiDAR is crucial for robust 3D scene perception in autonomous driving. LiDAR perception has the largest body of literature after camera perception. However, multi-task learning across tasks like detection, segmentation, and motion…

This dissertation is a multifaceted contribution to the advancement of vision-based 3D perception technologies. In the first segment, the thesis introduces structural enhancements to both monocular and stereo 3D object detection algorithms.…

Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…

Mapping and 3D detection are two major issues in vision-based robotics, and self-driving. While previous works only focus on each task separately, we present an innovative and efficient multi-task deep learning framework (SM3D) for…

Accurate and dense depth estimation with stereo cameras and LiDAR is an important task for automatic driving and robotic perception. While sparse hints from LiDAR points have improved cost aggregation in stereo matching, their effectiveness…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

Pseudo-LiDAR 3D detectors have made remarkable progress in monocular 3D detection by enhancing the capability of perceiving depth with depth estimation networks, and using LiDAR-based 3D detection architectures. The advanced stereo 3D…

Learning-based Multi-View Stereo (MVS) methods warp source images into the reference camera frustum to form 3D volumes, which are fused as a cost volume to be regularized by subsequent networks. The fusing step plays a vital role in…

Spatiotemporal intelligence in autonomous driving (AD) requires an agent to integrate multi-view observations into a coherent scene representation, maintain object continuity across viewpoints and time, and reason about spatial relations,…

Multi-view stereo methods have achieved great success for depth estimation based on the coarse-to-fine depth learning frameworks, however, the existing methods perform poorly in recovering the depth of object boundaries and detail regions.…

Recent advancements in Visual Language Models (VLMs) have made them crucial for visual question answering (VQA) in autonomous driving, enabling natural human-vehicle interactions. However, existing methods often struggle in dynamic driving…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

Generating high-quality stereo videos requires consistent depth perception and temporal coherence across frames. Despite advances in image and video synthesis using diffusion models, producing high-quality stereo videos remains a…

We present a novel deep-learning-based method for Multi-View Stereo. Our method estimates high resolution and highly precise depth maps iteratively, by traversing the continuous space of feasible depth values at each pixel in a binary…

We present a learning based approach for multi-view stereopsis (MVS). While current deep MVS methods achieve impressive results, they crucially rely on ground-truth 3D training data, and acquisition of such precise 3D geometry for…

Recent advancements in perception for autonomous driving are driven by deep learning. In order to achieve robust and accurate scene understanding, autonomous vehicles are usually equipped with different sensors (e.g. cameras, LiDARs,…

3D single object tracking within LIDAR point clouds is a pivotal task in computer vision, with profound implications for autonomous driving and robotics. However, existing methods, which depend solely on appearance matching via Siamese…

Autonomous vehicles (AVs) are poised to redefine transportation by enhancing road safety, minimizing human error, and optimizing traffic efficiency. The success of AVs depends on their ability to interpret complex, dynamic environments…