相关论文: Crowdsourced 3D Mapping: A Combined Multi-View Geo…

In this work, we propose an efficient and accurate monocular 3D detection framework in single shot. Most successful 3D detectors take the projection constraint from the 3D bounding box to the 2D box as an important component. Four edges of…

Reliable and accurate lane detection has been a long-standing problem in the field of autonomous driving. In recent years, many approaches have been developed that use images (or videos) as input and reason in image space. In this paper we…

High-definition map with accurate lane-level information is crucial for autonomous driving, but the creation of these maps is a resource-intensive process. To this end, we present a cost-effective solution to create lane-level roadmaps…

We present a new learning-based framework to recover vehicle pose in SO(3) from a single RGB image. In contrast to previous works that map from local appearance to observation angles, we explore a progressive approach by extracting…

This paper proposes 3DGeoDet, a novel geometry-aware 3D object detection approach that effectively handles single- and multi-view RGB images in indoor and outdoor environments, showcasing its general-purpose applicability. The key challenge…

High-definition maps (HD maps) are a key component of most modern self-driving systems due to their valuable semantic and geometric information. Unfortunately, building HD maps has proven hard to scale due to their cost as well as the…

Recently multi-view crowd counting using deep neural networks has been proposed to enable counting in large and wide scenes using multiple cameras. The current methods project the camera-view features to the average-height plane of the 3D…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

Detecting and matching robust viewpoint-invariant keypoints is critical for visual SLAM and Structure-from-Motion. State-of-the-art learning-based methods generate training samples via homography adaptation to create 2D synthetic views with…

In this paper we propose a novel semantic localization algorithm that exploits multiple sensors and has precision on the order of a few centimeters. Our approach does not require detailed knowledge about the appearance of the world, and our…

Self-localization on a 3D map by using an inexpensive monocular camera is required to realize autonomous driving. Self-localization based on a camera often uses a convolutional neural network (CNN) that can extract local features that are…

Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…

Although the majority of recent autonomous driving systems concentrate on developing perception methods based on ego-vehicle sensors, there is an overlooked alternative approach that involves leveraging intelligent roadside cameras to help…

Monocular 3D object detection is of great significance for autonomous driving but remains challenging. The core challenge is to predict the distance of objects in the absence of explicit depth information. Unlike regressing the distance as…

We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…

3D Multi-Object Tracking (MOT) is an important part of the unmanned vehicle perception module. Most methods optimize object detection and data association independently. These methods make the network structure complicated and limit the…

Accurate and reliable localization is a fundamental requirement for autonomous vehicles to use map information in higher-level tasks such as navigation or planning. In this paper, we present a novel approach to vehicle localization in dense…

We present a novel learning framework for vehicle recognition from a single RGB image. Unlike existing methods which only use attention mechanisms to locate 2D discriminative information, our work learns a novel 3D perspective feature…

Detecting 3D lanes from the camera is a rising problem for autonomous vehicles. In this task, the correct camera pose is the key to generating accurate lanes, which can transform an image from perspective-view to the top-view. With this…

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…