相关论文: Robust Moving Objects Detection in Lidar Data Expl…

We present a general framework and method for simultaneous detection and segmentation of an object in a video that moves (or comes into view of the camera) at some unknown time in the video. The method is an online approach based on motion…

AR/VR applications and robots need to know when the scene has changed. An example is when objects are moved, added, or removed from the scene. We propose a 3D object discovery method that is based only on scene changes. Our method does not…

The SLAM system based on static scene assumption will introduce huge estimation errors when moving objects appear in the field of view. This paper proposes a novel multi-object dynamic lidar odometry (MLO) based on semantic object detection…

Visual-based 3D semantic occupancy perception is a key technology for robotics, including autonomous vehicles, offering an enhanced understanding of the environment by 3D. This approach, however, typically requires more computational…

Recent advancements in the study of Neural Radiance Fields (NeRF) for dynamic scenes often involve explicit modeling of scene dynamics. However, this approach faces challenges in modeling scene dynamics in urban environments, where moving…

Real-time motion detection in non-stationary scenes is a difficult task due to dynamic background, changing foreground appearance and limited computational resource. These challenges degrade the performance of the existing methods in…

Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to reason about moving objects in the current observation and at…

Deep learning has led to great progress in the detection of mobile (i.e. movement-capable) objects in urban driving scenes in recent years. Supervised approaches typically require the annotation of large training sets; there has thus been…

Environment modeling utilizing sensor data fusion and object tracking is crucial for safe automated driving. In recent years, the classical occupancy grid map approach, which assumes a static environment, has been extended to dynamic…

Moving object detection and segmentation is an essential task in the Autonomous Driving pipeline. Detecting and isolating static and moving components of a vehicle's surroundings are particularly crucial in path planning and localization…

The perception of 3D motion of surrounding traffic participants is crucial for driving safety. While existing works primarily focus on general large motions, we contend that the instantaneous detection and quantification of subtle motions…

In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…

LiDAR scene flow estimation is essential for autonomous driving, as it provides 3D motion for each point. Self-supervised approaches use static-dynamic classification to mitigate the imbalance between static and dynamic points, deriving…

The attention-based encoder-decoder framework has recently achieved impressive results for scene text recognition, and many variants have emerged with improvements in recognition quality. However, it performs poorly on contextless texts…

In autonomous driving and robotics, there is a growing interest in utilizing short-term historical data to enhance multi-camera 3D object detection, leveraging the continuous and correlated nature of input video streams. Recent work has…

As object detectors rapidly improve, attention has expanded past image-only networks to include a range of 3D and multimodal frameworks, especially ones that incorporate LiDAR. However, due to cost, logistics, and even some safety…

Object detection and recognition are important problems in computer vision. Since these problems are meta-heuristic, despite a lot of research, practically usable, intelligent, real-time, and dynamic object detection/recognition methods are…

We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…

Object detection in autonomous driving applications implies that the detection and tracking of semantic objects are commonly native to urban driving environments, as pedestrians and vehicles. One of the major challenges in state-of-the-art…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…