相关论文: Joint Pose and Shape Estimation of Vehicles from L…

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…

We propose a novel method for joint estimation of shape and pose of rigid objects from their sequentially observed RGB-D images. In sharp contrast to past approaches that rely on complex non-linear optimization, we propose to formulate it…

High-precision vehicle localization with commercial setups is a crucial technique for high-level autonomous driving tasks. Localization with a monocular camera in LiDAR map is a newly emerged approach that achieves promising balance between…

Estimating the body shape and posture of a dressed human subject in motion represented as a sequence of (possibly incomplete) 3D meshes is important for virtual change rooms and security. To solve this problem, statistical shape spaces…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision. Our proposed method of registering a 3D model of a known object on a given 2D photo of the object has numerous…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…

Autonomous systems need to understand the semantics and geometry of their surroundings in order to comprehend and safely execute object-level task specifications. This paper proposes an expressive yet compact model for joint object pose and…

In the field of spatial computing, one of the most essential tasks is the pose estimation of 3D objects. While rigid transformations of arbitrary 3D objects are relatively hard to detect due to varying environment introducing factors like…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

Autonomous racing has rapidly gained research attention. Traditionally, racing cars rely on 2D LiDAR as their primary visual system. In this work, we explore the integration of an event camera with the existing system to provide enhanced…

The 3D reconstruction of objects is a prerequisite for many highly relevant applications of computer vision such as mobile robotics or autonomous driving. To deal with the inverse problem of reconstructing 3D objects from their 2D…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…

Distinction among nearby poses and among symmetries of an object is challenging. In this paper, we propose a unified, group-theoretic approach to tackle both. Different from existing works which directly predict absolute pose, our method…

Radar and LiDAR have been widely used in autonomous driving as LiDAR provides rich structure information, and radar demonstrates high robustness under adverse weather. Recent studies highlight the effectiveness of fusing radar and LiDAR…

In this work, we introduce the challenging problem of joint multi-person pose estimation and tracking of an unknown number of persons in unconstrained videos. Existing methods for multi-person pose estimation in images cannot be applied…

Localization is an essential technique in mobile robotics. In a complex environment, it is necessary to fuse different localization modules to obtain more robust results, in which the error model plays a paramount role. However,…

Human pose estimation in videos has long been a compelling yet challenging task within the realm of computer vision. Nevertheless, this task remains difficult because of the complex video scenes, such as video defocus and self-occlusion.…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

Place recognition is critical for both offline mapping and online localization. However, current single-sensor based place recognition still remains challenging in adverse conditions. In this paper, a heterogeneous measurements based…

Autonomous vehicles rely on LiDAR sensors to detect obstacles such as pedestrians, other vehicles, and fixed infrastructures. LiDAR spoofing attacks have been demonstrated that either create erroneous obstacles or prevent detection of real…