相关论文: MonoLoco: Monocular 3D Pedestrian Localization and…

Computational image reconstruction algorithms generally produce a single image without any measure of uncertainty or confidence. Regularized Maximum Likelihood (RML) and feed-forward deep learning approaches for inverse problems typically…

Monocular normal estimation aims to estimate the normal map from a single RGB image of an object under arbitrary lights. Existing methods rely on deep models to directly predict normal maps. However, they often suffer from 3D misalignment:…

In-the-wild human pose estimation has a huge potential for various fields, ranging from animation and action recognition to intention recognition and prediction for autonomous driving. The current state-of-the-art is focused only on RGB and…

Monocular 3D Object Detection represents a challenging Computer Vision task due to the nature of the input used, which is a single 2D image, lacking in any depth cues and placing the depth estimation problem as an ill-posed one. Existing…

3D object detection from monocular images is an ill-posed problem due to the projective entanglement of depth and scale. To overcome this ambiguity, we present a novel self-supervised method for textured 3D shape reconstruction and pose…

Depth estimation and 3D object detection are critical for scene understanding but remain challenging to perform with a single image due to the loss of 3D information during image capture. Recent models using deep neural networks have…

The uncertainty quantification of prediction models (e.g., neural networks) is crucial for their adoption in many robotics applications. This is arguably as important as making accurate predictions, especially for safety-critical…

According to recent studies, commonly used computer vision datasets contain about 4% of label errors. For example, the COCO dataset is known for its high level of noise in data labels, which limits its use for training robust neural deep…

Predicting human trajectory is crucial for social robot navigation in crowded environments. While most existing approaches treat human as point mass, we present a study on multi-agent trajectory prediction that leverages different human…

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…

Reliable Human Orientation Estimation (HOE) from a monocular image is critical for autonomous agents to understand human intention. Significant progress has been made in HOE under full observation. However, the existing methods easily make…

Pedestrian detection benefits greatly from deep convolutional neural networks (CNNs). However, it is inherently hard for CNNs to handle situations in the presence of occlusion and scale variation. In this paper, we propose W$^3$Net, which…

Autonomous vehicles and driver assistance systems utilize maps of 3D semantic landmarks for improved decision making. However, scaling the mapping process as well as regularly updating such maps come with a huge cost. Crowdsourced mapping…

Monocular depth estimation, enabled by self-supervised learning, is a key technique for 3D perception in computer vision. However, it faces significant challenges in real-world scenarios, which encompass adverse weather variations, motion…

Monocular 3D object detection has become a mainstream approach in automatic driving for its easy application. A prominent advantage is that it does not need LiDAR point clouds during the inference. However, most current methods still rely…

We present a novel method to learn temporally consistent 3D reconstruction of clothed people from a monocular video. Recent methods for 3D human reconstruction from monocular video using volumetric, implicit or parametric human shape…

Monocular depth estimation can play an important role in addressing the issue of deriving scene geometry from 2D images. It has been used in a variety of industries, including robots, self-driving cars, scene comprehension, 3D…

LiDAR relocalization aims to estimate the global 6-DoF pose of a sensor in the environment. However, existing regression-based approaches are prone to dynamic or ambiguous scenarios, as they either solely rely on single-frame inference or…

Visual Place Recognition (VPR) enables robots and autonomous vehicles to identify previously visited locations by matching current observations against a database of known places. However, VPR systems face significant challenges when…

Object detection and tracking is a key task in autonomy. Specifically, 3D object detection and tracking have been an emerging hot topic recently. Although various methods have been proposed for object detection, uncertainty in the 3D…