相关论文: Monocular Plan View Networks for Autonomous Drivin…

HD map reconstruction is crucial for autonomous driving. LiDAR-based methods are limited due to expensive sensors and time-consuming computation. Camera-based methods usually need to perform road segmentation and view transformation…

In this paper, we address the novel, highly challenging problem of estimating the layout of a complex urban driving scenario. Given a single color image captured from a driving platform, we aim to predict the bird's-eye view layout of the…

Generating a bird's eye view of road users is beneficial for a variety of applications, including navigation, detecting agent conflicts, and measuring space occupancy, as well as the ability to utilise the metric system to measure distances…

We explore the problem of intersection classification using monocular on-board passive vision, with the goal of classifying traffic scenes with respect to road topology. We divide the existing approaches into two broad categories according…

Detection of moving objects is a very important task in autonomous driving systems. After the perception phase, motion planning is typically performed in Bird's Eye View (BEV) space. This would require projection of objects detected on the…

Autonomous driving requires efficient reasoning about the location and appearance of the different agents in the scene, which aids in downstream tasks such as object detection, object tracking, and path planning. The past few years have…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

The 3D visual perception for vehicles with the surround-view fisheye camera system is a critical and challenging task for low-cost urban autonomous driving. While existing monocular 3D object detection methods perform not well enough on the…

An accurate understanding of a self-driving vehicle's surrounding environment is crucial for its navigation system. To enhance the effectiveness of existing algorithms and facilitate further research, it is essential to provide…

We present an approach that learns to synthesize high-quality, novel views of 3D objects or scenes, while providing fine-grained and precise control over the 6-DOF viewpoint. The approach is self-supervised and only requires 2D images and…

Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…

Awareness of the road scene is an essential component for both autonomous vehicles and Advances Driver Assistance Systems and is gaining importance both for the academia and car companies. This paper presents a way to learn a semantic-aware…

Autonomous vehicles commonly rely on highly detailed birds-eye-view maps of their environment, which capture both static elements of the scene such as road layout as well as dynamic elements such as other cars and pedestrians. Generating…

Estimating the 3D structure of the drivable surface and surrounding environment is a crucial task for assisted and autonomous driving. It is commonly solved either by using 3D sensors such as LiDAR or directly predicting the depth of points…

We present UniPlane, a novel method that unifies plane detection and reconstruction from posed monocular videos. Unlike existing methods that detect planes from local observations and associate them across the video for the final…

Monocular camera systems are prevailing in intelligent transportation systems, but by far they have rarely been used for dimensional purposes such as to accurately estimate the localization information of a vehicle. In this paper, we show…

Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…

Camera-based end-to-end driving neural networks bring the promise of a low-cost system that maps camera images to driving control commands. These networks are appealing because they replace laborious hand engineered building blocks but…

Recent research has highlighted the utility of Planar Parallax Geometry in monocular depth estimation. However, its potential has yet to be fully realized because networks rely heavily on appearance for depth prediction. Our in-depth…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…