相关论文: Learning Object-specific Distance from a Monocular…

3D object detection based on monocular camera data is a key enabler for autonomous driving. The task however, is ill-posed due to lack of depth information in 2D images. Recent deep learning methods show promising results to recover depth…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

Environment perception is the task for intelligent vehicles on which all subsequent steps rely. A key part of perception is to safely detect other road users such as vehicles, pedestrians, and cyclists. With modern deep learning techniques…

It is a classical compute vision problem to obtain real scene depth maps by using a monocular camera, which has been widely concerned in recent years. However, training this model usually requires a large number of artificially labeled…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…

Estimating the distance to objects is crucial for autonomous vehicles when using depth sensors is not possible. In this case, the distance has to be estimated from on-board mounted RGB cameras, which is a complex task especially in…

3D object detection from monocular images has proven to be an enormously challenging task, with the performance of leading systems not yet achieving even 10\% of that of LiDAR-based counterparts. One explanation for this performance gap is…

Dynamic scenes that contain both object motion and egomotion are a challenge for monocular visual odometry (VO). Another issue with monocular VO is the scale ambiguity, i.e. these methods cannot estimate scene depth and camera motion in…

Tunnel CCTVs are installed to low height and long-distance interval. However, because of the limitation of installation height, severe perspective effect in distance occurs, and it is almost impossible to detect vehicles in far distance…

Due to the lack of depth information of images and poor detection accuracy in monocular 3D object detection, we proposed the instance depth for multi-scale monocular 3D object detection method. Firstly, to enhance the model's processing…

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…

Utilizing a single camera for measuring object distances is a cost-effective alternative to stereo-vision and LiDAR. Although monocular distance estimation has been explored in the literature, most existing techniques rely on object class…

Current geometry-based monocular 3D object detection models can efficiently detect objects by leveraging perspective geometry, but their performance is limited due to the absence of accurate depth information. Though this issue can be…

In this paper, we propose an advanced methodology for the detection of 3D objects and precise estimation of their spatial positions from a single image. Unlike conventional frameworks that rely solely on center-point and dimension…

In this paper we propose a novel approach to tracking by detection that can exploit both cameras as well as LIDAR data to produce very accurate 3D trajectories. Towards this goal, we formulate the problem as a linear program that can be…

Event cameras provide a natural and data efficient representation of visual information, motivating novel computational strategies towards extracting visual information. Inspired by the biological vision system, we propose a behavior driven…

Modern driver assistance systems rely on a wide range of sensors (RADAR, LIDAR, ultrasound and cameras) for scene understanding and prediction. These sensors are typically used for detecting traffic participants and scene elements required…

Learning to recognize pedestrian attributes at far distance is a challenging problem in visual surveillance since face and body close-shots are hardly available; instead, only far-view image frames of pedestrian are given. In this study, we…

This paper aims to design a 3D object detection model from 2D images taken by monocular cameras by combining the estimated bird's-eye view elevation map and the deep representation of object features. The proposed model has a pre-trained…

As an agent moves through the world, the apparent motion of scene elements is (usually) inversely proportional to their depth. It is natural for a learning agent to associate image patterns with the magnitude of their displacement over…