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City-scale 3D point cloud is a promising way to express detailed and complicated outdoor structures. It encompasses both the appearance and geometry features of segmented city components, including cars, streets, and buildings, that can be…

3D multi-object detection and tracking are crucial for traffic scene understanding. However, the community pays less attention to these areas due to the lack of a standardized benchmark dataset to advance the field. Moreover, existing…

Advanced Driver-Assistance Systems (ADAS) have successfully integrated learning-based techniques into vehicle perception and decision-making. However, their application in 3D lane detection for effective driving environment perception is…

3D detection of traffic management objects, such as traffic lights and road signs, is vital for self-driving cars, particularly for address-to-address navigation where vehicles encounter numerous intersections with these static objects.…

Accurate ground truth annotations are critical to supervised learning and evaluating the performance of autonomous vehicle systems. These vehicles are typically equipped with active sensors, such as LiDAR, which scan the environment in…

The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

Intelligent Transportation Systems (ITS) allow a drastic expansion of the visibility range and decrease occlusions for autonomous driving. To obtain accurate detections, detailed labeled sensor data for training is required. Unfortunately,…

Advancements in LiDAR technology have led to more cost-effective production while simultaneously improving precision and resolution. As a result, LiDAR has become integral to vehicle localization, achieving centimeter-level accuracy through…

Curb detection is essential for environmental awareness in Automated Driving (AD), as it typically limits drivable and non-drivable areas. Annotated data are necessary for developing and validating an AD function. However, the number of…

Detecting pedestrians is a crucial task in autonomous driving systems to ensure the safety of drivers and pedestrians. The technologies involved in these algorithms must be precise and reliable, regardless of environment conditions. Relying…

Vehicle localization using roadside LiDARs can provide centimeter-level accuracy for cloud-controlled vehicles while simultaneously serving multiple vehicles, enhanc-ing safety and efficiency. While most existing studies rely on repetitive…

Autonomous driving and assistance systems rely on annotated data from traffic and road scenarios to model and learn the various object relations in complex real-world scenarios. Preparation and training of deploy-able deep learning…

Curbs are one of the essential elements of urban and highway traffic environments. Robust curb detection provides road structure information for motion planning in an autonomous driving system. Commonly, video cameras and 3D LiDARs are…

Reflective surfaces present a persistent challenge for reliable 3D mapping and perception in robotics and autonomous systems. However, existing reflection datasets and benchmarks remain limited to sparse 2D data. This paper introduces the…

An autonomous driving system requires a 3D object detector, which must perceive all present road agents reliably to navigate an environment safely. However, real-world driving datasets often suffer from the problem of data imbalance, which…

Autonomous driving requires various computer vision algorithms, such as object detection and tracking.Precisely-labeled datasets (i.e., objects are fully contained in bounding boxes with only a few extra pixels) are preferred for training…

Visual understanding of complex urban street scenes is an enabling factor for a wide range of applications. Object detection has benefited enormously from large-scale datasets, especially in the context of deep learning. For semantic urban…

Occlusion presents a significant challenge for safety-critical applications such as autonomous driving. Collaborative perception has recently attracted a large research interest thanks to the ability to enhance the perception of autonomous…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…