相关论文: Stereo Vision-based Semantic 3D Object and Ego-mot…

Estimating camera wearer's body pose from an egocentric view (egopose) is a vital task in augmented and virtual reality. Existing approaches either use a narrow field of view front facing camera that barely captures the wearer, or an…

This paper proposes a self-supervised monocular image-to-depth prediction framework that is trained with an end-to-end photometric loss that handles not only 6-DOF camera motion but also 6-DOF moving object instances. Self-supervision is…

In this paper, we propose a monocular 3D object detection framework in the domain of autonomous driving. Unlike previous image-based methods which focus on RGB feature extracted from 2D images, our method solves this problem in the…

Roadside perception is a key component in intelligent transportation systems. In this paper, we present a novel three-dimensional (3D) extended object tracking (EOT) method, which simultaneously estimates the object kinematics and extent…

While most recent autonomous driving system focuses on developing perception methods on ego-vehicle sensors, people tend to overlook an alternative approach to leverage intelligent roadside cameras to extend the perception ability beyond…

Scan data of urban environments often include representations of dynamic objects, such as vehicles, pedestrians, and so forth. However, when it comes to constructing a 3D point cloud map with sequential accumulations of the scan data, the…

We propose the use of a proportional-derivative (PD) control based policy learned via reinforcement learning (RL) to estimate and forecast 3D human pose from egocentric videos. The method learns directly from unsegmented egocentric videos…

Accurate detection of 3D objects is a fundamental problem in computer vision and has an enormous impact on autonomous cars, augmented/virtual reality and many applications in robotics. In this work we present a novel fusion of neural…

Object pose tracking is a fundamental and essential task for robotics to perform tasks in the home and industrial settings. The most commonly used sensors to do so are RGB-D cameras, which can hit limitations in highly dynamic environments…

Project AutoVision aims to develop localization and 3D scene perception capabilities for a self-driving vehicle. Such capabilities will enable autonomous navigation in urban and rural environments, in day and night, and with cameras as the…

Collaborative perception in automated vehicles leverages the exchange of information between agents, aiming to elevate perception results. Previous camera-based collaborative 3D perception methods typically employ 3D bounding boxes or…

3D semantic occupancy prediction aims to forecast detailed geometric and semantic information of the surrounding environment for autonomous vehicles (AVs) using onboard surround-view cameras. Existing methods primarily focus on intricate…

3D object detection based on roadside cameras is an additional way for autonomous driving to alleviate the challenges of occlusion and short perception range from vehicle cameras. Previous methods for roadside 3D object detection mainly…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…

Accurate and robust localization remains a significant challenge for autonomous vehicles. The cost of sensors and limitations in local computational efficiency make it difficult to scale to large commercial applications. Traditional…

Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…

Vision is one of the primary sensing modalities in autonomous driving. In this paper we look at the problem of estimating the velocity of road vehicles from a camera mounted on a moving car. Contrary to prior methods that train end-to-end…

From Vision-Language-Action (VLA) systems to robotics, existing egocentric datasets primarily focus on action recognition tasks, while largely overlooking the inherent role of motion analysis in sports and other fast-movement scenarios. To…

The frame rates of most 3D LIDAR sensors used in intelligent vehicles are substantially lower than current cameras installed in the same vehicle. This research suggests using a mono camera to virtually enhance the frame rate of LIDARs,…

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…