相关论文: Egocentric Vision-based Future Vehicle Localizatio…

Efficient navigation in dynamic environments requires anticipating how motion patterns evolve beyond the robot's immediate perceptual range, enabling preemptive rather than purely reactive planning in crowded scenes. Maps of Dynamics (MoDs)…

The choice of representation plays a key role in self-driving. Bird's eye view (BEV) representations have shown remarkable performance in recent years. In this paper, we propose to learn object-centric representations in BEV to distill a…

Perceiving the world from both egocentric (first-person) and exocentric (third-person) perspectives is fundamental to human cognition, enabling rich and complementary understanding of dynamic environments. In recent years, allowing the…

We present a novel approach to modern car control utilizing a combination of Deep Convolutional Neural Networks and Long Short-Term Memory Systems: Both of which are a subsection of Hierarchical Representations Learning, more commonly known…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

In this paper, we present an end-to-end future-prediction model that focuses on pedestrian safety. Specifically, our model uses previous video frames, recorded from the perspective of the vehicle, to predict if a pedestrian will cross in…

Egocentric cameras are becoming increasingly popular and provide us with large amounts of videos, captured from the first person perspective. At the same time, surveillance cameras and drones offer an abundance of visual information, often…

Autonomous driving systems rely on accurate perception and localization of the ego car to ensure safety and reliability in challenging real-world driving scenarios. Public datasets play a vital role in benchmarking and guiding advancement…

In recent years, autonomous driving has garnered escalating attention for its potential to relieve drivers' burdens and improve driving safety. Vision-based 3D occupancy prediction, which predicts the spatial occupancy status and semantics…

Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…

We present a vehicle self-localization method using point-based deep neural networks. Our approach processes measurements and point features, i.e. landmarks, from a high-definition digital map to infer the vehicle's pose. To learn the best…

This work tackles scene understanding for outdoor robotic navigation, solely relying on images captured by an on-board camera. Conventional visual scene understanding interprets the environment based on specific descriptive categories.…

We present ongoing work to harness biological approaches to achieving highly efficient egocentric perception by combining the space-variant imaging architecture of the mammalian retina with Deep Learning methods. By pre-processing images…

Reliable trajectory prediction from an ego-centric perspective is crucial for robotic navigation in human-centric environments. However, existing methods typically assume noiseless observation histories, failing to account for the…

We tackle the problem of estimating optical flow from a monocular camera in the context of autonomous driving. We build on the observation that the scene is typically composed of a static background, as well as a relatively small number of…

Autonomous vehicles rely extensively on perception systems to navigate and interpret their surroundings. Despite significant advancements in these systems recently, challenges persist under conditions like occlusion, extreme lighting, or in…

Reliable embodied perception from an egocentric perspective is challenging yet essential for autonomous navigation technology of intelligent mobile agents. With the growing demand of social robotics, near-field scene understanding becomes…

Object detection is a critical component of a self-driving system, tasked with inferring the current states of the surrounding traffic actors. While there exist a number of studies on the problem of inferring the position and shape of…

Due to the complex and changing interactions in dynamic scenarios, motion forecasting is a challenging problem in autonomous driving. Most existing works exploit static road graphs to characterize scenarios and are limited in modeling…

Object detection is a crucial component in autonomous vehicle systems. It enables the vehicle to perceive and understand its environment by identifying and locating various objects around it. By utilizing advanced imaging and deep learning…