相关论文: Camera-based vehicle velocity estimation from mono…

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…

We propose a robust method for estimating road curb 3D parameters (size, location, orientation) using a calibrated monocular camera equipped with a fisheye lens. Automatic curb detection and localization is particularly important in the…

Understanding on-road vehicle behaviour from a temporal sequence of sensor data is gaining in popularity. In this paper, we propose a pipeline for understanding vehicle behaviour from a monocular image sequence or video. A monocular…

3D object detection based on monocular camera data is a key enabler for autonomous driving. The task however, is ill-posed due to lack of depth information in 2D images. Recent deep learning methods show promising results to recover depth…

In many robotics and VR/AR applications, fast camera motions lead to a high level of motion blur, causing existing camera pose estimation methods to fail. In this work, we propose a novel framework that leverages motion blur as a rich cue…

We tackle the problem of estimating optical flow from a monocular camera in the context of autonomous driving. We build on the observation that the scene is typically composed of a static background, as well as a relatively small number of…

Understanding ego-motion and surrounding vehicle state is essential to enable automated driving and advanced driving assistance technologies. Typical approaches to solve this problem use fusion of multiple sensors such as LiDAR, camera, and…

Estimating the camera's pose given images from a single camera is a traditional task in mobile robots and autonomous vehicles. This problem is called monocular visual odometry and often relies on geometric approaches that require…

In this technical report we investigate speed estimation of the ego-vehicle on the KITTI benchmark using state-of-the-art deep neural network based optical flow and single-view depth prediction methods. Using a straightforward intuitive…

Although the number of camera-based sensors mounted on vehicles has recently increased dramatically, robust and accurate object velocity detection is difficult. Additionally, it is still common to use radar as a fusion system. We have…

Self-supervised learning of depth map prediction and motion estimation from monocular video sequences is of vital importance -- since it realizes a broad range of tasks in robotics and autonomous vehicles. A large number of research efforts…

Monocular cameras are one of the most commonly used sensors in the automotive industry for autonomous vehicles. One major drawback using a monocular camera is that it only makes observations in the two dimensional image plane and can not…

Event cameras are novel sensors that output brightness changes in the form of a stream of asynchronous events instead of intensity frames. Compared to conventional image sensors, they offer significant advantages: high temporal resolution,…

The perception of vehicles and pedestrians in urban scenarios is crucial for autonomous driving. This process typically involves complicated data collection, imposes high computational and hardware demands. To address these limitations, we…

This paper aims to design a 3D object detection model from 2D images taken by monocular cameras by combining the estimated bird's-eye view elevation map and the deep representation of object features. The proposed model has a pre-trained…

Recent automotive vision work has focused almost exclusively on processing forward-facing cameras. However, future autonomous vehicles will not be viable without a more comprehensive surround sensing, akin to a human driver, as can be…

Despite all the challenges and limitations, vision-based vehicle speed detection is gaining research interest due to its great potential benefits such as cost reduction, and enhanced additional functions. As stated in a recent survey [1],…

Comprehending the environment and accurately detecting objects in 3D space are essential for advancing autonomous vehicle technologies. Integrating Camera and LIDAR data has emerged as an effective approach for achieving high accuracy in 3D…

We present an algorithm for estimating consistent dense depth maps and camera poses from a monocular video. We integrate a learning-based depth prior, in the form of a convolutional neural network trained for single-image depth estimation,…

Estimating the motion of the camera together with the 3D structure of the scene from a monocular vision system is a complex task that often relies on the so-called scene rigidity assumption. When observing a dynamic environment, this…