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

Detecting and localizing glass in 3D environments poses significant challenges for visual perception systems, as the optical properties of glass often hinder conventional sensors from accurately distinguishing glass surfaces. The lack of…

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…

Single-task learning in artificial neural networks will be able to learn the model very well, and the benefits brought by transferring knowledge thus become limited. In this regard, when the number of tasks increases (e.g., semantic…

Detecting and localizing objects in the real 3D space, which plays a crucial role in scene understanding, is particularly challenging given only a monocular image due to the geometric information loss during imagery projection. We propose…

Autonomous driving without high-definition (HD) maps demands a higher level of active scene understanding. In this competition, the organizers provided the multi-perspective camera images and standard-definition (SD) maps to explore the…

Depth information is the foundation of perception, essential for autonomous driving, robotics, and other source-constrained applications. Promptly obtaining accurate and efficient depth information allows for a rapid response in dynamic…

In this work, we tackle the problem of modeling the vehicle environment as dynamic occupancy grid map in complex urban scenarios using recurrent neural networks. Dynamic occupancy grid maps represent the scene in a bird's eye view, where…

Spatial reasoning (SR), the ability to infer 3D spatial information from 2D inputs, is essential for real-world applications such as embodied AI and autonomous driving. However, existing research primarily focuses on indoor environments and…

We present a novel method to train machine learning algorithms to estimate scene depths from a single image, by using the information provided by a camera's aperture as supervision. Prior works use a depth sensor's outputs or images of the…

In automated driving, highly accurate maps are commonly used to support and complement perception. These maps are costly to create and quickly become outdated as the traffic world is permanently changing. In order to support or replace the…

In this work, we research and evaluate end-to-end learning of monocular semantic-metric occupancy grid mapping from weak binocular ground truth. The network learns to predict four classes, as well as a camera to bird's eye view mapping. At…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

An important challenge for autonomous agents such as robots is to maintain a spatially and temporally consistent model of the world. It must be maintained through occlusions, previously-unseen views, and long time horizons (e.g., loop…

Obstacle avoidance is essential for ensuring the safety of autonomous vehicles. Accurate perception and motion planning are crucial to enabling vehicles to navigate complex environments while avoiding collisions. In this paper, we propose…

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…

Scene flow estimation is an extremely important task in computer vision to support the perception of dynamic changes in the scene. For robust scene flow, learning-based approaches have recently achieved impressive results using either…

Panorama images have a much larger field-of-view thus naturally encode enriched scene context information compared to standard perspective images, which however is not well exploited in the previous scene understanding methods. In this…

Humans navigate in their environment by learning a mental model of the world through passive observation and active interaction. Their world model allows them to anticipate what might happen next and act accordingly with respect to an…

We propose a novel single-step training strategy that allows convolutional encoder-decoder networks that use skip connections, to complete partially observed data by means of hallucination. This strategy is demonstrated for the task of…

Monocular depth estimation plays a crucial role in 3D recognition and understanding. One key limitation of existing approaches lies in their lack of structural information exploitation, which leads to inaccurate spatial layout,…