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

Building on progress in feature representations for image retrieval, image-based localization has seen a surge of research interest. Image-based localization has the advantage of being inexpensive and efficient, often avoiding the use of 3D…

3D object detection based on roadside cameras is an additional way for autonomous driving to alleviate the challenges of occlusion and short perception range from vehicle cameras. Previous methods for roadside 3D object detection mainly…

Traffic sign recognition is a well-researched problem in computer vision. However, the state of the art methods works only for frequent sign classes, which are well represented in training datasets. We consider the task of rare traffic sign…

HD (High Definition) map based on 3D lidar plays a vital role in autonomous vehicle localization, planning, decision-making, perception, etc. Many 3D lidar mapping technologies related to SLAM (Simultaneous Localization and Mapping) are…

3D object detection is a key perception component in autonomous driving. Most recent approaches are based on Lidar sensors only or fused with cameras. Maps (e.g., High Definition Maps), a basic infrastructure for intelligent vehicles,…

We propose a novel traffic sign detection system that simultaneously estimates the location and precise boundary of traffic signs using convolutional neural network (CNN). Estimating the precise boundary of traffic signs is important in…

3D visual grounding aims to localize the object in 3D point cloud scenes that semantically corresponds to given natural language sentences. It is very critical for roadside infrastructure system to interpret natural languages and localize…

3D geometry is a very informative cue when interacting with and navigating an environment. This writing proposes a new approach to 3D reconstruction and scene understanding, which implicitly learns 3D geometry from depth maps pairing a deep…

Large-scale scene data is essential for training and testing in robot learning. Neural reconstruction methods have promised the capability of reconstructing large physically-grounded outdoor scenes from captured sensor data. However, these…

Monocular depth estimation has been a popular area of research for several years, especially since self-supervised networks have shown increasingly good results in bridging the gap with supervised and stereo methods. However, these…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Road detection and segmentation is a crucial task in computer vision for safe autonomous driving. With this in mind, a new net architecture (3D-DEEP) and its end-to-end training methodology for CNN-based semantic segmentation are described…

Monocular multi-object detection and localization in 3D space has been proven to be a challenging task. The MoNet3D algorithm is a novel and effective framework that can predict the 3D position of each object in a monocular image and draw a…

In this work, we consider the problem of estimating the 3D position of multiple humans in a scene as well as their body shape and articulation from a single RGB video recorded with a static camera. In contrast to expensive marker-based or…

Multi-Target Multi-Camera Tracking (MTMC) is an essential computer vision task for automating large-scale surveillance. With camera calibration and depth information, the targets in the scene can be projected into 3D space, offering…

Road unevenness significantly impacts the safety and comfort of traffic participants, especially vulnerable groups such as cyclists and wheelchair users. To train models for comprehensive road surface assessments, we introduce…

We present a novel approach for estimating depth from a monocular camera as it moves through complex and crowded indoor environments, e.g., a department store or a metro station. Our approach predicts absolute scale depth maps over the…

Higher level functionality in autonomous driving depends strongly on a precise motion estimate of the vehicle. Powerful algorithms have been developed. However, their great majority focuses on either binocular imagery or pure LIDAR…

Accurate localization is essential for robotics and augmented reality applications such as autonomous navigation. Vision-based methods combining prior maps aim to integrate LiDAR-level accuracy with camera cost efficiency for robust pose…

While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…