相关论文: VLASE: Vehicle Localization by Aggregating Semanti…

Semantic segmentation networks have achieved significant success under the assumption of independent and identically distributed data. However, these networks often struggle to detect anomalies from unknown semantic classes due to the…

Image segmentation is an essential component in many image processing and computer vision tasks. The primary goal of image segmentation is to simplify an image for easier analysis, and there are two broad approaches for achieving this: edge…

This paper addresses the challenge of identifying the paths for vessels with operating routes of repetitive paths, partially repetitive paths, and new paths. We propose a spatial clustering approach for labeling the vessel paths by using…

Despite the effectiveness of convolutional neural networks (CNNs) especially in image classification tasks, the effect of convolution features on learned representations is still limited. It mostly focuses on the salient object of the…

Visibility analysis in urban planning has traditionally relied on line-of-sight (LoS) simulations, which capture geometric occlusion. However, these approaches depend on accurate 3D data that is often unavailable and may not adequately…

Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…

Sound event localization and detection (SELD) combines two subtasks: sound event detection (SED) and direction of arrival (DOA) estimation. SELD is usually tackled as an audio-only problem, but visual information has been recently included.…

3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context…

Detecting navigable space is the first and also a critical step for successful robot navigation. In this work, we treat the visual navigable space segmentation as a scene decomposition problem and propose a new network, NSS-VAEs (Navigable…

We present BEV-SLD, a LiDAR global localization method building on the Scene Landmark Detection (SLD) concept. Unlike scene-agnostic pipelines, our self-supervised approach leverages bird's-eye-view (BEV) images to discover scene-specific…

We propose a novel, vision-only object-level SLAM framework for automotive applications representing 3D shapes by implicit signed distance functions. Our key innovation consists of augmenting the standard neural representation by a…

Several works have proposed to learn a two-path neural network that maps images and texts, respectively, to a same shared Euclidean space where geometry captures useful semantic relationships. Such a multi-modal embedding can be trained and…

Camera localization methods based on retrieval, local feature matching, and 3D structure-based pose estimation are accurate but require high storage, are slow, and are not privacy-preserving. A method based on scene landmark detection (SLD)…

Visual SLAM shows significant progress in recent years due to high attention from vision community but still, challenges remain for low-textured environments. Feature based visual SLAMs do not produce reliable camera and structure estimates…

Autonomous driving is a rapidly evolving technology. Autonomous vehicles are capable of sensing their environment and navigating without human input through sensory information such as radar, lidar, GNSS, vehicle odometry, and computer…

Extracting high-level structural information from 3D point clouds is challenging but essential for tasks like urban planning or autonomous driving requiring an advanced understanding of the scene at hand. Existing approaches are still not…

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…

Visual localization is an essential component of intelligent transportation systems, enabling broad applications that require understanding one's self location when other sensors are not available. It is mostly tackled by image retrieval…

Computer vision is developing rapidly with the support of deep learning techniques. This thesis proposes an advanced vehicle-detection model based on an improvement to classical convolutional neural networks. The advanced model was applied…

In 3D point cloud-based visual self-localization, pole landmarks have a great potential as landmarks for accurate and reliable localization due to their long-term stability under seasonal and weather changes. In this study, we aim to…