相关论文: Real-Time Dense Mapping for Self-driving Vehicles …

360-degree cameras offer the possibility to cover a large area, for example an entire room, without using multiple distributed vision sensors. However, geometric distortions introduced by their lenses make computer vision problems more…

We propose a method of improving detection precision (mAP) with the help of the prior knowledge about the scene geometry: we assume the scene to be a plane with objects placed on it. We focus our attention on autonomous robots, so given the…

Automotive cameras, particularly surround-view cameras, tend to get soiled by mud, water, snow, etc. For higher levels of autonomous driving, it is necessary to have a soiling detection algorithm which will trigger an automatic cleaning…

Accurate localization is a foundational capacity, required for autonomous vehicles to accomplish other tasks such as navigation or path planning. It is a common practice for vehicles to use GPS to acquire location information. However, the…

Both recognition and 3D tracking of frontal dynamic objects are crucial problems in an autonomous vehicle, while depth estimation as an essential issue becomes a challenging problem using a monocular camera. Since both camera and objects…

Reliable knowledge of road boundaries is critical for autonomous vehicle navigation. We propose a robust curb detection and filtering technique based on the fusion of camera semantics and dense lidar point clouds. The lidar point clouds are…

Accurate and reliable localization is a fundamental requirement for autonomous vehicles to use map information in higher-level tasks such as navigation or planning. In this paper, we present a novel approach to vehicle localization in dense…

With recent advances in computer vision, it appears that autonomous driving will be part of modern society sooner rather than later. However, there are still a significant number of concerns to address. Although modern computer vision…

Object detection plays an important role in self-driving cars for security development. However, mobile systems on self-driving cars with limited computation resources lead to difficulties for object detection. To facilitate this, we…

Autonomous vehicles demand detailed maps to maneuver reliably through traffic, which need to be kept up-to-date to ensure a safe operation. A promising way to adapt the maps to the ever-changing road-network is to use crowd-sourced data…

Camera-based perception systems play a central role in modern autonomous vehicles. These camera based perception algorithms require an accurate calibration to map the real world distances to image pixels. In practice, calibration is a…

Monocular depth estimation enables 3D perception from a single 2D image, thus attracting much research attention for years. Almost all methods treat foreground and background regions ("things and stuff") in an image equally. However, not…

Although the recent image-based 3D object detection methods using Pseudo-LiDAR representation have shown great capabilities, a notable gap in efficiency and accuracy still exist compared with LiDAR-based methods. Besides, over-reliance on…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

We present a novel algorithm for self-supervised monocular depth completion. Our approach is based on training a neural network that requires only sparse depth measurements and corresponding monocular video sequences without dense depth…

Online augmentation of an oblique aerial image sequence with structural information is an essential aspect in the process of 3D scene interpretation and analysis. One key aspect in this is the efficient dense image matching and depth…

This work describes the automatic registration of a large network (approximately 40) of fixed, ceiling-mounted environment cameras spread over a large area (approximately 800 squared meters) using a mobile calibration robot equipped with a…

LiDAR sensors are widely used in autonomous driving due to the reliable 3D spatial information. However, the data of LiDAR is sparse and the frequency of LiDAR is lower than that of cameras. To generate denser point clouds spatially and…

Event cameras are a kind of bio-inspired sensors that generate data when the brightness changes, which are of low-latency and high dynamic range (HDR). However, due to the nature of the sparse event stream, event-based mapping can only…

In this paper, we present a multi-camera visual odometry (VO) system for an autonomous vehicle. Our system mainly consists of a virtual LiDAR and a pose tracker. We use a perspective transformation method to synthesize a surround-view image…