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

Inferring the pose and shape of vehicles in 3D from a movable platform still remains a challenging task due to the projective sensing principle of cameras, difficult surface properties e.g. reflections or transparency, and illumination…

With the widespread application of Light Detection and Ranging (LiDAR) technology in fields such as autonomous driving, robot navigation, and terrain mapping, the importance of edge detection in LiDAR images has become increasingly…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

This paper addresses the problem of automated vehicle tracking and recognition from aerial image sequences. Motivated by its successes in the existing literature focus on the use of linear appearance subspaces to describe multi-view object…

We propose a novel approach to jointly perform 3D shape retrieval and pose estimation from monocular images.In order to make the method robust to real-world image variations, e.g. complex textures and backgrounds, we learn an embedding…

This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…

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…

This paper presents a method for pose estimation of off-road vehicles moving over uneven terrain. It determines the contact points between the wheels and the terrain, assuming rigid contacts between an arbitrary number of wheels and ground.…

This paper presents a novel method for 3D human pose and shape estimation from images with sparse views, using joint points and silhouettes, based on a parametric model. Firstly, the parametric model is fitted to the joint points estimated…

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

3D pose estimation from a single 2D image is an important and challenging task in computer vision with applications in autonomous driving, robot manipulation and augmented reality. Since 3D pose is a continuous quantity, a natural…

Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…

We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…

The goal of this paper is to classify objects mapped by LiDAR sensor into different classes such as vehicles, pedestrians and bikers. Utilizing a LiDAR-based object detector and Neural Networks-based classifier, a novel real-time object…

Despite of the recent success of neural networks for human pose estimation, current approaches are limited to pose estimation of a single person and cannot handle humans in groups or crowds. In this work, we propose a method that estimates…

The past few years have witnessed an increasing interest in improving the perception performance of LiDARs on autonomous vehicles. While most of the existing works focus on developing new deep learning algorithms or model architectures, we…

Robust road segmentation is a key challenge in self-driving research. Though many image-based methods have been studied and high performances in dataset evaluations have been reported, developing robust and reliable road segmentation is…

We investigate the problem of estimating the 3D shape of an object, given a set of 2D landmarks in a single image. To alleviate the reconstruction ambiguity, a widely-used approach is to confine the unknown 3D shape within a shape space…

We propose a deep convolutional object detector for automated driving applications that also estimates classification, pose and shape uncertainty of each detected object. The input consists of a multi-layer grid map which is well-suited for…