相关论文: PerMO: Perceiving More at Once from a Single Image…

This study aims to improve the performance and generalization capability of end-to-end autonomous driving with scene understanding leveraging deep learning and multimodal sensor fusion techniques. The designed end-to-end deep neural network…

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…

We present a new effective way for performance capture of deforming meshes with fine-scale time-varying surface detail from multi-view video. Our method builds up on coarse 4D surface reconstructions, as obtained with commonly used…

We propose a novel and pragmatic framework for traffic scene perception with roadside cameras. The proposed framework covers a full-stack of roadside perception pipeline for infrastructure-assisted autonomous driving, including object…

Future anticipation is of vital importance in autonomous driving and other decision-making systems. We present a method to anticipate semantic segmentation of future frames in driving scenarios based on feature-to-feature forecasting. Our…

Most automated driving systems comprise a diverse sensor set, including several cameras, Radars, and LiDARs, ensuring a complete 360\deg coverage in near and far regions. Unlike Radar and LiDAR, which measure directly in 3D, cameras capture…

Deformable Parts Models and Convolutional Networks each have achieved notable performance in object detection. Yet these two approaches find their strengths in complementary areas: DPMs are well-versed in object composition, modeling…

In autonomous driving, perception systems are piv otal as they interpret sensory data to understand the envi ronment, which is essential for decision-making and planning. Ensuring the safety of these perception systems is fundamental for…

In crowded urban environments where traffic is dense, current technologies struggle to oversee tight navigation, but surface-level understanding allows autonomous vehicles to safely assess proximity to surrounding obstacles. 3D or 2D scene…

Current 3D reconstruction techniques struggle to infer unbounded scenes from a few images faithfully. Specifically, existing methods have high computational demands, require detailed pose information, and cannot reconstruct occluded regions…

We propose a novel technique for producing high-quality 3D models that match a given target object image or scan. Our method is based on retrieving an existing shape from a database of 3D models and then deforming its parts to match the…

This paper presents an approach to estimating the continuous 6-DoF pose of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional network (convnet) with a deformable shape model. Unlike…

Perceiving the surrounding environment is essential for enabling autonomous or assisted driving functionalities. Common tasks in this domain include detecting road users, as well as determining lane boundaries and classifying driving…

Fully-supervised category-level pose estimation aims to determine the 6-DoF poses of unseen instances from known categories, requiring expensive mannual labeling costs. Recently, various self-supervised category-level pose estimation…

Motion segmentation in dynamic scenes is highly challenging, as conventional methods heavily rely on estimating camera poses and point correspondences from inherently noisy motion cues. Existing statistical inference or iterative…

Image segmentation and depth estimation are crucial tasks in computer vision, especially in autonomous driving scenarios. Although these tasks are typically addressed separately, we propose an innovative approach to combine them in our…

We introduce a novel learning-based method to reconstruct the high-quality geometry and complex, spatially-varying BRDF of an arbitrary object from a sparse set of only six images captured by wide-baseline cameras under collocated point…

3D object detection with surround-view images is an essential task for autonomous driving. In this work, we propose DETR4D, a Transformer-based framework that explores sparse attention and direct feature query for 3D object detection in…

This paper presents a novel framework to recover \emph{detailed} avatar from a single image. It is a challenging task due to factors such as variations in human shapes, body poses, texture, and viewpoints. Prior methods typically attempt to…

We propose the Canonical 3D Deformer Map, a new representation of the 3D shape of common object categories that can be learned from a collection of 2D images of independent objects. Our method builds in a novel way on concepts from…