相关论文: Speed estimation evaluation on the KITTI benchmark…

Making predictions of future frames is a critical challenge in autonomous driving research. Most of the existing methods for video prediction attempt to generate future frames in simple and fixed scenes. In this paper, we propose a novel…

Robust and reliable ego-motion is a key component of most autonomous mobile systems. Many odometry estimation methods have been developed using different sensors such as cameras or LiDARs. In this work, we present a resilient approach that…

The paper presents a modular approach for the estimation of a leading vehicle's velocity based on a non-intrusive stereo camera where SiamMask is used for leading vehicle tracking, Kernel Density estimate (KDE) is used to smooth the…

3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…

We propose robust methods for estimating camera egomotion in noisy, real-world monocular image sequences in the general case of unknown observer rotation and translation with two views and a small baseline. This is a difficult problem…

We address the problem of finding the current position and heading angle of an autonomous vehicle in real-time using a single camera. Compared to methods which require LiDARs and high definition (HD) 3D maps in real-time, the proposed…

We present a self-supervised approach to estimate flow in camera image and top-view grid map sequences using fully convolutional neural networks in the domain of automated driving. We extend existing approaches for self-supervised optical…

We propose a novel multi-task learning system that combines appearance and motion cues for a better semantic reasoning of the environment. A unified architecture for joint vehicle detection and motion segmentation is introduced. In this…

As one of the most important tasks in autonomous driving systems, ego-lane detection has been extensively studied and has achieved impressive results in many scenarios. However, ego-lane detection in the missing feature scenarios is still…

Accurate monocular depth estimation is crucial for 3D scene understanding, but existing methods often blur depth at object boundaries, introducing spurious intermediate 3D points. While achieving sharp edges usually requires very…

Monocular depth estimation has been increasingly adopted in robotics and autonomous driving for its ability to infer scene geometry from a single camera. In self-supervised monocular depth estimation frameworks, the network jointly…

Predicting accurate depth with monocular images is important for low-cost robotic applications and autonomous driving. This study proposes a comprehensive self-supervised framework for accurate scale-aware depth prediction on autonomous…

For autonomous vehicles to be able to operate successfully they need to be aware of other vehicles with sufficient time to make safe, stable plans. Given the possible closing speeds between two vehicles, this necessitates the ability to…

Self-supervised depth estimation has shown its great effectiveness in producing high quality depth maps given only image sequences as input. However, its performance usually drops when estimating on border areas or objects with thin…

In this work, we introduce RadarTrack, an innovative ego-speed estimation framework utilizing a single-chip millimeter-wave (mmWave) radar to deliver robust speed estimation for mobile platforms. Unlike previous methods that depend on…

Traditional autonomous driving pipelines decouple camera design from downstream perception, relying on fixed optics and handcrafted ISPs that prioritize human viewable imagery rather than machine semantics. This separation discards…

Estimating a scene's depth to achieve collision avoidance against moving pedestrians is a crucial and fundamental problem in the robotic field. This paper proposes a novel, low complexity network architecture for fast and accurate human…

Predicting depth from a monocular video sequence is an important task for autonomous driving. Although it has advanced considerably in the past few years, recent methods based on convolutional neural networks (CNNs) discard temporal…

We propose a complete pipeline that allows object detection and simultaneously estimate the pose of these multiple object instances using just a single image. A novel "keypoint regression" scheme with a cross-ratio term is introduced that…

Accurate localization of other traffic participants is a vital task in autonomous driving systems. State-of-the-art systems employ a combination of sensing modalities such as RGB cameras and LiDARs for localizing traffic participants, but…