相关论文: End-to-end Learning of Multi-sensor 3D Tracking by…

Learning from demonstration for motion planning is an ongoing research topic. In this paper we present a model that is able to learn the complex mapping from raw 2D-laser range findings and a target position to the required steering…

The task of detecting 3D objects is important to various robotic applications. The existing deep learning-based detection techniques have achieved impressive performance. However, these techniques are limited to run with a graphics…

Multi-object tracking (MOT) has important applications in monitoring, logistics, and other fields. This paper develops a real-time multi-object tracking and prediction system in rugged environments. A 3D object detection algorithm based on…

The goal of this paper is to classify objects mapped by LiDAR sensor into different classes such as vehicles, pedestrians and bikers. Utilizing a LiDAR-based object detector and Neural Networks-based classifier, a novel real-time object…

Place recognition is critical for both offline mapping and online localization. However, current single-sensor based place recognition still remains challenging in adverse conditions. In this paper, a heterogeneous measurements based…

With the rise of end-to-end learning through deep learning, person detectors and re-identification (ReID) models have recently become very strong. Multi-camera multi-target (MCMT) tracking has not fully gone through this transformation yet.…

Tracking-by-detection has become an attractive tracking technique, which treats tracking as a category detection problem. However, the task in tracking is to search for a specific object, rather than an object category as in detection. In…

We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which…

We propose 3DETR, an end-to-end Transformer based object detection model for 3D point clouds. Compared to existing detection methods that employ a number of 3D-specific inductive biases, 3DETR requires minimal modifications to the vanilla…

Multi-object tracking (MOT) is a core task in computer vision that involves detecting objects in video frames and associating them across time. The rise of deep learning has significantly advanced MOT, particularly within the…

The development of autonomous vehicles provides an opportunity to have a complete set of camera sensors capturing the environment around the car. Thus, it is important for object detection and tracking to address new challenges, such as…

This paper aims to explore the problem of trajectory prediction in heterogeneous pedestrian zones, where social dynamics representation is a big challenge. Proposed is an end-to-end learning framework for prediction accuracy improvement…

The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. This paper proposes a robust solution to achieve accurate…

In this paper, we tackle the problem of detecting objects in 3D and forecasting their future motion in the context of self-driving. Towards this goal, we design a novel approach that explicitly takes into account the interactions between…

In this paper we present a complete study of an end-to-end imitation learning system for speed control of a real car, based on a neural network with a Long Short Term Memory (LSTM). To achieve robustness and generalization from expert…

LiDAR is crucial for robust 3D scene perception in autonomous driving. LiDAR perception has the largest body of literature after camera perception. However, multi-task learning across tasks like detection, segmentation, and motion…

The task of detecting 3D objects in traffic scenes has a pivotal role in many real-world applications. However, the performance of 3D object detection is lower than that of 2D object detection due to the lack of powerful 3D feature…

This paper presents a novel multi-modal Multi-Object Tracking (MOT) algorithm for self-driving cars that combines camera and LiDAR data. Camera frames are processed with a state-of-the-art 3D object detector, whereas classical clustering…

Multi-object tracking (MOT) has made great progress in recent years, but there are still some problems. Most MOT algorithms follow tracking-by-detection framework, which separates detection and tracking into two independent parts. Early…

Detecting dynamic objects and predicting static road information such as drivable areas and ground heights are crucial for safe autonomous driving. Previous works studied each perception task separately, and lacked a collective quantitative…