相关论文: Spatio-Temporal Road Scene Reconstruction using Su…

Recovering the 3D structure of the scene from images yields useful information for tasks such as shape and scene recognition, object detection, or motion planning and object grasping in robotics. In this thesis, we introduce a general…

In crowded urban environments where traffic is dense, current technologies struggle to oversee tight navigation, but surface-level understanding allows autonomous vehicles to safely assess proximity to surrounding obstacles. 3D or 2D scene…

In this paper, we address the problem of inferring the layout of complex road scenes given a single camera as input. To achieve that, we first propose a novel parameterized model of road layouts in a top-view representation, which is not…

Road obstacle detection is an important problem for vehicle driving safety. In this paper, we aim to obtain robust road obstacle detection based on spatio-temporal context modeling. Firstly, a data-driven spatial context model of the…

Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…

Large-scale scene data is essential for training and testing in robot learning. Neural reconstruction methods have promised the capability of reconstructing large physically-grounded outdoor scenes from captured sensor data. However, these…

Modern 3D semantic scene graph estimation methods utilize ground truth 3D annotations to accurately predict target objects, predicates, and relationships. In the absence of given 3D ground truth representations, we explore leveraging only…

Monocular vision based road detection methods are mostly based on machine learning methods, relying on classification and feature extraction accuracy, and suffer from appearance, illumination and weather changes. Traditional methods…

Reconstructing photo-realistic large-scale scenes from images, for example at city scale, is a long-standing problem in computer graphics. Neural rendering is an emerging technique that enables photo-realistic image synthesis from…

Road surface reconstruction is essential for autonomous driving, supporting centimeter-accurate lane perception and high-definition mapping in complex urban environments.While recent methods based on mesh rendering or 3D Gaussian splatting…

Image synthesis driven by computer graphics achieved recently a remarkable realism, yet synthetic image data generated this way reveals a significant domain gap with respect to real-world data. This is especially true in autonomous driving…

Street scene understanding is an essential task for autonomous driving. One important step towards this direction is scene labeling, which annotates each pixel in the images with a correct class label. Although many approaches have been…

This paper focuses on scene reconstruction under nighttime conditions in autonomous driving simulation. Recent methods based on Neural Radiance Fields (NeRFs) and 3D Gaussian Splatting (3DGS) have achieved photorealistic modeling in…

Detecting road obstacles is essential for autonomous vehicles to navigate dynamic and complex traffic environments safely. Current road obstacle detection methods typically assign a score to each pixel and apply a threshold to generate…

In recent years, 3D generation has made great strides in both academia and industry. However, generating 3D scenes from a single RGB image remains a significant challenge, as current approaches often struggle to ensure both object…

Various 3D reconstruction methods have enabled civil engineers to detect damage on a road surface. To achieve the millimetre accuracy required for road condition assessment, a disparity map with subpixel resolution needs to be used.…

This project presents an exploration into 3D scene reconstruction of synthetic and real-world scenes using Neural Radiance Field (NeRF) approaches. We primarily take advantage of the reduction in training and rendering time of neural…

In self driving car applications, there is a requirement to predict the location of the lane given an input RGB front facing image. In this paper, we propose an architecture that allows us to increase the speed and robustness of road…

This paper presents a process for estimating the spatially varying surface reflectance of complex scenes observed under natural illumination. In contrast to previous methods, our process is not limited to scenes viewed under controlled…

Comprehensive 3D scene understanding, both geometrically and semantically, is important for real-world applications such as robot perception. Most of the existing work has focused on developing data-driven discriminative models for scene…