相关论文: SOIC: Semantic Online Initialization and Calibrati…

Deep neural networks trained for classification have been found to learn powerful image representations, which are also often used for other tasks such as comparing images w.r.t. their visual similarity. However, visual similarity does not…

Large-scale colored point clouds have many advantages in navigation or scene display. Relying on cameras and LiDARs, which are now widely used in reconstruction tasks, it is possible to obtain such colored point clouds. However, the…

Panoptic segmentation is an important computer vision task, where the current state-of-the-art solutions require specialized components to perform well. We propose a simple generalist framework based on a deep encoder - shallow decoder…

The goal of image restoration (IR), a fundamental issue in computer vision, is to restore a high-quality (HQ) image from its degraded low-quality (LQ) observation. Multiple HQ solutions may correspond to an LQ input in this poorly posed…

A fast and accurate panoptic segmentation system for LiDAR point clouds is crucial for autonomous driving vehicles to understand the surrounding objects and scenes. Existing approaches usually rely on proposals or clustering to segment…

Accurate camera localization is crucial for robotics and Extended Reality (XR), enabling reliable navigation and alignment of virtual and real content. Existing visual methods often suffer from drift, scale ambiguity, and depend on…

Safety of the Intended Functionality (SOTIF) addresses sensor performance limitations and deep learning-based object detection insufficiencies to ensure the intended functionality of Automated Driving Systems (ADS). This paper presents a…

Despite the recent success of image-text contrastive models like CLIP and SigLIP, these models often struggle with vision-centric tasks that demand high-fidelity image understanding, such as counting, depth estimation, and fine-grained…

3D contrastive representation learning has exhibited remarkable efficacy across various downstream tasks. However, existing contrastive learning paradigms based on cosine similarity fail to deeply explore the potential intra-modal…

In self-driving, standalone GPS is generally considered to have insufficient positioning accuracy to stay in lane. Instead, many turn to LIDAR localization, but this comes at the expense of building LIDAR maps that can be costly to…

We propose a new approach, Synthetic Optimized Layout with Instance Detection (SOLID), to pretrain object detectors with synthetic images. Our "SOLID" approach consists of two main components: (1) generating synthetic images using a…

Based on the observation that semantic segmentation errors are partially predictable, we propose a compact formulation using confusion statistics of the trained classifier to refine (re-estimate) the initial pixel label hypotheses. The…

Reliable deep learning models require not only accurate predictions but also well-calibrated confidence estimates to ensure dependable uncertainty estimation. This is crucial in safety-critical applications like autonomous driving, which…

In this paper we perform an experimental comparison of three different target based 3D-LIDAR camera calibration algorithms. We briefly elucidate the mathematical background behind each method and provide insights into practical aspects like…

In this letter, we present a novel method for automatic extrinsic calibration of high-resolution LiDARs and RGB cameras in targetless environments. Our approach does not require checkerboards but can achieve pixel-level accuracy by aligning…

Learned image compression (LIC) techniques have achieved remarkable progress; however, effectively integrating high-level semantic information remains challenging. In this work, we present a \underline{S}emantic-\underline{E}nhanced…

LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…

Masked Image Modeling (MIM) has become a ubiquitous self-supervised vision paradigm. In this work, we show that MIM objectives cause the learned representations to retain non-semantic information, which ultimately hurts performance during…

Estimating the position and orientation of a camera with respect to an observed scene is one of the central problems in computer vision, particularly in the context of camera calibration and multi-sensor systems. This paper addresses the…

Understanding human instructions and accomplishing Vision-Language Navigation tasks in unknown environments is essential for robots. However, existing modular approaches heavily rely on the quality of training data and often exhibit poor…