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Millimeter-wave radar provides robust perception in visually degraded environments. However, radar-inertial state estimation is inherently susceptible to drift. Because radar yields only sparse, body-frame velocity measurements, it provides…
We propose a depth map inference system from monocular videos based on a novel dataset for navigation that mimics aerial footage from gimbal stabilized monocular camera in rigid scenes. Unlike most navigation datasets, the lack of rotation…
Monocular 3D object detection has recently shown promising results, however there remain challenging problems. One of those is the lack of invariance to different camera intrinsic parameters, which can be observed across different 3D object…
In the most intrusion detection systems (IDS), a system tries to learn characteristics of different type of attacks by analyzing packets that sent or received in network. These packets have a lot of features. But not all of them is required…
Pretraining on large labeled datasets is a prerequisite to achieve good performance in many computer vision tasks like 2D object recognition, video classification etc. However, pretraining is not widely used for 3D recognition tasks where…
This paper presents a novel method for visual-inertial odometry. The method is based on an information fusion framework employing low-cost IMU sensors and the monocular camera in a standard smartphone. We formulate a sequential inference…
Multi-sensor fusion in autonomous vehicles is becoming more common to offer a more robust alternative for several perception tasks. This need arises from the unique contribution of each sensor in collecting data: camera-radar fusion offers…
Traditional visual-inertial state estimation targets absolute camera poses and spatial landmark locations while first-order kinematics are typically resolved as an implicitly estimated sub-state. However, this poses a risk in velocity-based…
Visual SLAM is a cornerstone technique in robotics, autonomous driving and extended reality (XR), yet classical systems often struggle with low-texture environments, scale ambiguity, and degraded performance under challenging visual…
Recent work on 3D object detection advocates point cloud voxelization in birds-eye view, where objects preserve their physical dimensions and are naturally separable. When represented in this view, however, point clouds are sparse and have…
The task of occupancy forecasting (OCF) involves utilizing past and present perception data to predict future occupancy states of autonomous vehicle surrounding environments, which is critical for downstream tasks such as obstacle avoidance…
Accurate 3D object detection is crucial to autonomous driving. Though LiDAR-based detectors have achieved impressive performance, the high cost of LiDAR sensors precludes their widespread adoption in affordable vehicles. Camera-based…
Due to its deficiency in prior knowledge (inductive bias), Vision Transformer (ViT) requires pre-training on large-scale datasets to perform well. Moreover, the growing layers and parameters in ViT models impede their applicability to…
Autonomous driving gained huge traction in recent years, due to its potential to change the way we commute. Much effort has been put into trying to estimate the state of a vehicle. Meanwhile, learning to forecast the state of a vehicle…
Despite the success of transformers on various computer vision tasks, they suffer from excessive memory and computational cost. Some works present dynamic vision transformers to accelerate inference by pruning redundant tokens. A key to…
Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. However, the absence of accurate and automated registration…
Image-based visual-language (I-VL) pre-training has shown great success for learning joint visual-textual representations from large-scale web data, revealing remarkable ability for zero-shot generalisation. This paper presents a simple but…
Monocular 3D object detection is very challenging in autonomous driving due to the lack of depth information. This paper proposes a one-stage monocular 3D object detection algorithm based on multi-scale depth stratification, which uses the…
LiDAR-based 3D object detection is essential for autonomous driving systems. However, LiDAR point clouds may appear to have sparsity, uneven distribution, and incomplete structures, significantly limiting the detection performance. In road…
Foundation models have emerged as a promising approach in time series forecasting (TSF). Existing approaches either repurpose large language models (LLMs) or build large-scale time series datasets to develop TSF foundation models for…