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We present RoarNet, a new approach for 3D object detection from a 2D image and 3D Lidar point clouds. Based on two-stage object detection framework with PointNet as our backbone network, we suggest several novel ideas to improve 3D object…
In this technical report, we present the top-performing LiDAR-only solutions for 3D detection, 3D tracking and domain adaptation three tracks in Waymo Open Dataset Challenges 2020. Our solutions for the competition are built upon our recent…
The main challenge in 3D object detection from LiDAR point clouds is achieving real-time performance without affecting the reliability of the network. In other words, the detecting network must be confident enough about its predictions. In…
In the application domain of fleet management and driver monitoring, it is very challenging to obtain relevant driving events and activities from dashcam footage while minimizing the amount of information stored and analyzed. In this paper,…
Accurate lane localization and lane change detection are crucial in advanced driver assistance systems and autonomous driving systems for safer and more efficient trajectory planning. Conventional localization devices such as Global…
In dynamic environments, the ability to detect and track moving objects in real-time is crucial for autonomous robots to navigate safely and effectively. Traditional methods for dynamic object detection rely on high accuracy odometry and…
The safe operation of drone swarms beyond visual line of sight requires multiple safeguards to mitigate the risk of collision between drones flying in close-proximity scenarios. Cooperative navigation and flight coordination strategies that…
LiDAR and camera are two important sensors for 3D object detection in autonomous driving. Despite the increasing popularity of sensor fusion in this field, the robustness against inferior image conditions, e.g., bad illumination and sensor…
In this paper we propose a method based on deep learning that detects multiple people from a single overhead depth image with high reliability. Our neural network, called DPDnet, is based on two fully-convolutional encoder-decoder neural…
Modern Unmanned Aerial Vehicles (UAV) equipped with cameras can play an essential role in speeding up the identification and rescue of people who have fallen overboard, i.e., man overboard (MOB). To this end, Artificial Intelligence…
This work presents a neural network model capable of recognizing small and tiny objects in thermal images collected by unmanned aerial vehicles. Our model consists of three parts, the backbone, the neck, and the prediction head. The…
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),…
LiDAR is an important method for autonomous driving systems to sense the environment. The point clouds obtained by LiDAR typically exhibit sparse and irregular distribution, thus posing great challenges to the detection of 3D objects,…
LiDAR-based 3D object detectors have been largely utilized in various applications, including autonomous vehicles or mobile robots. However, LiDAR-based detectors often fail to adapt well to target domains with different sensor…
3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…
Multi-camera full-body pose capture of humans and animals in outdoor environments is a highly challenging problem. Our approach to it involves a team of cooperating micro aerial vehicles (MAVs) with on-board cameras only. The key…
Person recognition at a distance entails recognizing the identity of an individual appearing in images or videos collected by long-range imaging systems such as drones or surveillance cameras. Despite recent advances in deep convolutional…
Micro-aerial vehicles (MAVs) are becoming ubiquitous across multiple industries and application domains. Lightweight MAVs with only an onboard flight controller and a minimal sensor suite (e.g., IMU, vision, and vertical ranging sensors)…
Camera-based person re-identification (ReID) systems have been widely applied in the field of public security. However, cameras often lack the perception of 3D morphological information of human and are susceptible to various limitations,…
The trend towards autonomous driving and the continuous research in the automotive area, like Advanced Driver Assistance Systems (ADAS), requires an accurate localization under all circumstances. An accurate estimation of the vehicle state…