相关论文: Object Detection and Classification in Occupancy G…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

We propose an object detector for top-view grid maps which is additionally trained to generate an enriched version of its input. Our goal in the joint model is to improve generalization by regularizing towards structural knowledge in form…

In this work, we research and evaluate end-to-end learning of monocular semantic-metric occupancy grid mapping from weak binocular ground truth. The network learns to predict four classes, as well as a camera to bird's eye view mapping. At…

Nowadays, service robots are appearing more and more in our daily life. For this type of robot, open-ended object category learning and recognition is necessary since no matter how extensive the training data used for batch learning, the…

Grid maps obtained from fused sensory information are nowadays among the most popular approaches for motion planning for autonomous driving cars. In this paper, we introduce Deep Grid Net (DGN), a deep learning (DL) system designed for…

This paper aims at high-accuracy 3D object detection in autonomous driving scenario. We propose Multi-View 3D networks (MV3D), a sensory-fusion framework that takes both LIDAR point cloud and RGB images as input and predicts oriented 3D…

Awareness of the road scene is an essential component for both autonomous vehicles and Advances Driver Assistance Systems and is gaining importance both for the academia and car companies. This paper presents a way to learn a semantic-aware…

A key challenge for autonomous driving is safe trajectory planning in cluttered, urban environments with dynamic obstacles, such as pedestrians, bicyclists, and other vehicles. A reliable prediction of the future environment, including the…

Deep neural networks excel at finding hierarchical representations that solve complex tasks over large data sets. How can we humans understand these learned representations? In this work, we present network dissection, an analytic framework…

The ability to recognize objects is an essential skill for a robotic system acting in human-populated environments. Despite decades of effort from the robotic and vision research communities, robots are still missing good visual perceptual…

In this paper we propose an ensemble of local and deep features for object classification. We also compare and contrast effectiveness of feature representation capability of various layers of convolutional neural network. We demonstrate…

Drivable free space information is vital for autonomous vehicles that have to plan evasive maneuvers in real-time. In this paper, we present a new efficient method for environmental free space detection with laser scanner based on 2D…

This work investigates the use of deep fully convolutional neural networks (DFCNN) for pixel-wise scene labeling of Earth Observation images. Especially, we train a variant of the SegNet architecture on remote sensing data over an urban…

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…

In this paper we present an approach to estimate Free Space from a Stereo image pair using stochastic occupancy grids. We do this in the domain of autonomous driving on the famous benchmark dataset KITTI. Later based on the generated…

Humans effortlessly identify objects by leveraging a rich understanding of the surrounding scene, including spatial relationships, material properties, and the co-occurrence of other objects. In contrast, most computational object…

This work proposes a perception system for autonomous vehicles and advanced driver assistance specialized on unpaved roads and off-road environments. In this research, the authors have investigated the behavior of Deep Learning algorithms…

Semantic segmentation necessitates approaches that learn high-level characteristics while dealing with enormous amounts of data. Convolutional neural networks (CNNs) can learn unique and adaptive features to achieve this aim. However, due…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

In this paper we provide an overview of a new framework for robot perception, real-world modelling, and navigation that uses a stochastic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a…