相关论文: LMNet: Real-time Multiclass Object Detection on CP…

Image-based 3D object detection is an inevitable part of autonomous driving because cheap onboard cameras are already available in most modern cars. Because of the accurate depth information, currently, most state-of-the-art 3D object…

We present a fast and accurate visual tracking algorithm based on the multi-domain convolutional neural network (MDNet). The proposed approach accelerates feature extraction procedure and learns more discriminative models for instance…

Convolutional Neural Networks (CNN) are successfully used for various visual perception tasks including bounding box object detection, semantic segmentation, optical flow, depth estimation and visual SLAM. Generally these tasks are…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

The classification and the position estimation of objects become more and more relevant as the field of robotics is expanding in diverse areas of society. In this Bachelor Thesis, we developed a cone detection algorithm for an autonomous…

In this paper, we propose SpotNet: a fast, single stage, image-centric but LiDAR anchored approach for long range 3D object detection. We demonstrate that our approach to LiDAR/image sensor fusion, combined with the joint learning of 2D and…

Real-time and high-performance 3D object detection is of critical importance for autonomous driving. Recent top-performing 3D object detectors mainly rely on point-based or 3D voxel-based convolutions, which are both computationally…

LiDAR panoptic segmentation facilitates an autonomous vehicle to comprehensively understand the surrounding objects and scenes and is required to run in real time. The recent proposal-free methods accelerate the algorithm, but their…

The analyses relying on 3D point clouds are an utterly complex task, often involving million of points, but also requiring computationally efficient algorithms because of many real-time applications; e.g. autonomous vehicle. However, point…

We present 4D-Net, a 3D object detection approach, which utilizes 3D Point Cloud and RGB sensing information, both in time. We are able to incorporate the 4D information by performing a novel dynamic connection learning across various…

Previous state-of-the-art real-time object detectors have been reported on GPUs which are extremely expensive for processing massive data and in resource-restricted scenarios. Therefore, high efficiency object detectors on CPU-only devices…

We introduce Patch Refinement a two-stage model for accurate 3D object detection and localization from point cloud data. Patch Refinement is composed of two independently trained Voxelnet-based networks, a Region Proposal Network (RPN) and…

Over the last decade, robotic perception algorithms have significantly benefited from the rapid advances in deep learning (DL). Indeed, a significant amount of the autonomy stack of different commercial and research platforms relies on DL…

We present a novel detection method using a deep convolutional neural network (CNN), named AttentionNet. We cast an object detection problem as an iterative classification problem, which is the most suitable form of a CNN. AttentionNet…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

This study investigates the application of PointNet and PointNet++ in the classification of LiDAR-generated point cloud data, a critical component for achieving fully autonomous vehicles. Utilizing a modified dataset from the Lyft 3D Object…

In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of…

For current object detectors, the scale of the receptive field of feature extraction operators usually increases layer by layer. Those operators are called scale-oriented operators in this paper, such as the convolution layer in CNN, and…

This paper presents the FPGA design of a convolutional neural network (CNN) based road segmentation algorithm for real-time processing of LiDAR data. For autonomous vehicles, it is important to perform road segmentation and obstacle…

In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…