相关论文: Vision-Based Road Detection using Contextual Block…

A novel approach is proposed for monocular obstacle detection, which relies on self-supervised learning to discriminate everything above the horizon line from everything below. Obstacles on the path of a robot that keeps moving at the same…

The main aim of this work is the development of a vision-based road detection system fast enough to cope with the difficult real-time constraints imposed by moving vehicle applications. The hardware platform, a special-purpose massively…

Recognizing a traffic accident is an essential part of any autonomous driving or road monitoring system. An accident can appear in a wide variety of forms, and understanding what type of accident is taking place may be useful to prevent it…

Most of computer vision focuses on what is in an image. We propose to train a standalone object-centric context representation to perform the opposite task: seeing what is not there. Given an image, our context model can predict where…

Accurate and reliable localization is a fundamental requirement for autonomous vehicles to use map information in higher-level tasks such as navigation or planning. In this paper, we present a novel approach to vehicle localization in dense…

Autonomous driving systems are broadly used equipment in the industries and in our daily lives, they assist in production, but are majorly used for exploration in dangerous or unfamiliar locations. Thus, for a successful exploration,…

A natural way to improve the detection of objects is to consider the contextual constraints imposed by the detection of additional objects in a given scene. In this work, we exploit the spatial relations between objects in order to improve…

This paper studies the problem of object discovery -- separating objects from the background without manual labels. Existing approaches utilize appearance cues, such as color, texture, and location, to group pixels into object-like regions.…

Monocular 3D object detection offers a cost-effective solution for autonomous driving but suffers from ill-posed depth and limited field of view. These constraints cause a lack of geometric cues and reduced accuracy in occluded or truncated…

The detection of small road hazards, such as lost cargo, is a vital capability for self-driving cars. We tackle this challenging and rarely addressed problem with a vision system that leverages appearance, contextual as well as geometric…

While road obstacle detection techniques have become increasingly effective, they typically ignore the fact that, in practice, the apparent size of the obstacles decreases as their distance to the vehicle increases. In this paper, we…

We investigate the reasons why context in object detection has limited utility by isolating and evaluating the predictive power of different context cues under ideal conditions in which context provided by an oracle. Based on this study, we…

High precision localization is a crucial requirement for the autonomous driving system. Traditional positioning methods have some limitations in providing stable and accurate vehicle poses, especially in an urban environment. Herein, we…

Accurately detecting 3D objects from monocular images in dynamic roadside scenarios remains a challenging problem due to varying camera perspectives and unpredictable scene conditions. This paper introduces a two-stage training strategy to…

This paper proposes a method to extract the position and pose of vehicles in the 3D world from a single traffic camera. Most previous monocular 3D vehicle detection algorithms focused on cameras on vehicles from the perspective of a driver,…

Teaching machines of scene contextual knowledge would enable them to interact more effectively with the environment and to anticipate or predict objects that may not be immediately apparent in their perceptual field. In this paper, we…

Road detection or traversability analysis has been a key technique for a mobile robot to traverse complex off-road scenes. The problem has been mainly formulated in early works as a binary classification one, e.g. associating pixels with…

Lane detection algorithms have been the key enablers for a fully-assistive and autonomous navigation systems. In this paper, a novel and pragmatic approach for lane detection is proposed using a convolutional neural network (CNN) model…

In this work we present a method for performance evaluation of stereo vision based obstacle detection techniques that takes into account the specifics of road situation analysis to minimize the effort required to prepare a test dataset.…

Detection of moving objects is a very important task in autonomous driving systems. After the perception phase, motion planning is typically performed in Bird's Eye View (BEV) space. This would require projection of objects detected on the…