相关论文: MonoLayout: Amodal scene layout from a single imag…

3D scene understanding plays a vital role in vision-based autonomous driving. While most existing methods focus on 3D object detection, they have difficulty describing real-world objects of arbitrary shapes and infinite classes. Towards a…

We propose an algorithm to predict room layout from a single image that generalizes across panoramas and perspective images, cuboid layouts and more general layouts (e.g. L-shape room). Our method operates directly on the panoramic image,…

Understanding ego-motion and surrounding vehicle state is essential to enable automated driving and advanced driving assistance technologies. Typical approaches to solve this problem use fusion of multiple sensors such as LiDAR, camera, and…

Given a single photo of a room and a large database of furniture CAD models, our goal is to reconstruct a scene that is as similar as possible to the scene depicted in the photograph, and composed of objects drawn from the database. We…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Scene understanding enables intelligent agents to interpret and comprehend their environment. While existing large vision-language models (LVLMs) for scene understanding have primarily focused on indoor household tasks, they face two…

Autonomously navigating a robot in everyday crowded spaces requires solving complex perception and planning challenges. When using only monocular image sensor data as input, classical two-dimensional planning approaches cannot be used.…

Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. However, the absence of accurate and automated registration…

Monocular 3D object detection (Mono3D) is a fundamental computer vision task that estimates an object's class, 3D position, dimensions, and orientation from a single image. Its applications, including autonomous driving, augmented reality,…

Building structured 3D scene layouts from a single image requires reconciling visual observations with physical and spatial constraints, a challenge that is difficult to address with direct prediction alone. In this work, we formulate…

Multi-camera 3D perception has emerged as a prominent research field in autonomous driving, offering a viable and cost-effective alternative to LiDAR-based solutions. The existing multi-camera algorithms primarily rely on monocular 2D…

In this paper, we present a monocular Simultaneous Localization and Mapping (SLAM) algorithm using high-level object and plane landmarks. The built map is denser, more compact and semantic meaningful compared to feature point based SLAM. We…

This work tackles scene understanding for outdoor robotic navigation, solely relying on images captured by an on-board camera. Conventional visual scene understanding interprets the environment based on specific descriptive categories.…

Scene flow estimation has been receiving increasing attention for 3D environment perception. Monocular scene flow estimation -- obtaining 3D structure and 3D motion from two temporally consecutive images -- is a highly ill-posed problem,…

We present an exploration of machine learning architectures for predicting brain responses to realistic images on occasion of the Algonauts Challenge 2023. Our research involved extensive experimentation with various pretrained models.…

The task of estimating 3D occupancy from surrounding-view images is an exciting development in the field of autonomous driving, following the success of Bird's Eye View (BEV) perception. This task provides crucial 3D attributes of the…

This work proposes a perception system for autonomous vehicles and advanced driver assistance specialized on unpaved roads and off-road environments. In this research, the authors have investigated the behavior of Deep Learning algorithms…

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…

3D environment recognition is essential for autonomous driving systems, as autonomous vehicles require a comprehensive understanding of surrounding scenes. Recently, the predominant approach to define this real-life problem is through 3D…

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…