相关论文: 3D-LaneNet: End-to-End 3D Multiple Lane Detection

An up-to-date city-scale lane-level map is an indispensable infrastructure and a key enabling technology for ensuring the safety and user experience of autonomous driving systems. In industrial scenarios, reliance on manual annotation for…

A novel algorithm to detect road lanes in the eigenlane space is proposed in this paper. First, we introduce the notion of eigenlanes, which are data-driven descriptors for structurally diverse lanes, including curved, as well as straight,…

3D lane detection is essential in autonomous driving as it extracts structural and traffic information from the road in three-dimensional space, aiding self-driving cars in logical, safe, and comfortable path planning and motion control.…

Methods for 3D lane detection have been recently proposed to address the issue of inaccurate lane layouts in many autonomous driving scenarios (uphill/downhill, bump, etc.). Previous work struggled in complex cases due to their simple…

Understanding 3D object structure from a single image is an important but challenging task in computer vision, mostly due to the lack of 3D object annotations to real images. Previous research tackled this problem by either searching for a…

Lane detection is challenging due to the complicated on road scenarios and line deformation from different camera perspectives. Lots of solutions were proposed, but can not deal with corner lanes well. To address this problem, this paper…

We present a convolutional network capable of inferring a 3D representation of a previously unseen object given a single image of this object. Concretely, the network can predict an RGB image and a depth map of the object as seen from an…

Network embedding is an effective technique to learn the low-dimensional representations of nodes in networks. Real-world networks are usually with multiplex or having multi-view representations from different relations. Recently, there has…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

In this paper, we study the representation of the shape and pose of objects using their keypoints. Therefore, we propose an end-to-end method that simultaneously detects 2D keypoints from an image and lifts them to 3D. The proposed method…

Accurately depicting the complex traffic scene is a vital component for autonomous vehicles to execute correct judgments. However, existing benchmarks tend to oversimplify the scene by solely focusing on lane perception tasks. Observing…

Transfer Learning has become one of the standard methods to solve problems to overcome the isolated learning paradigm by utilizing knowledge acquired for one task to solve another related one. However, research needs to be done, to identify…

Rapid advances in 2D perception have led to systems that accurately detect objects in real-world images. However, these systems make predictions in 2D, ignoring the 3D structure of the world. Concurrently, advances in 3D shape prediction…

In this paper, we propose SpotNet: a fast, single stage, image-centric but LiDAR anchored approach for long range 3D object detection. We demonstrate that our approach to LiDAR/image sensor fusion, combined with the joint learning of 2D and…

Object detection and object tracking are usually treated as two separate processes. Significant progress has been made for object detection in 2D images using deep learning networks. The usual tracking-by-detection pipeline for object…

The structured light (SL)-based three-dimensional (3D) measurement techniques with deep learning have been widely studied to improve measurement efficiency, among which fringe projection profilometry (FPP) and speckle projection…

We tackle the problem of joint perception and motion forecasting in the context of self-driving vehicles. Towards this goal we propose PnPNet, an end-to-end model that takes as input sequential sensor data, and outputs at each time step…

This work considers a new task in geometric deep learning: generating a triangulation among a set of points in 3D space. We present PointTriNet, a differentiable and scalable approach enabling point set triangulation as a layer in 3D…

In this paper we propose a novel deep neural network that is able to jointly reason about 3D detection, tracking and motion forecasting given data captured by a 3D sensor. By jointly reasoning about these tasks, our holistic approach is…

3D visual perception tasks based on multi-camera images are essential for autonomous driving systems. Latest work in this field performs 3D object detection by leveraging multi-view images as an input and iteratively enhancing object…