相关论文: Uncertainty-Aware Voxel based 3D Object Detection …

3D object tracking is a critical task in autonomous driving systems. It plays an essential role for the system's awareness about the surrounding environment. At the same time there is an increasing interest in algorithms for autonomous cars…

Previous visual object tracking methods employ image-feature regression models or coordinate autoregression models for bounding box prediction. Image-feature regression methods heavily depend on matching results and do not utilize…

3D object trackers usually require training on large amounts of annotated data that is expensive and time-consuming to collect. Instead, we propose leveraging vast unlabeled datasets by self-supervised metric learning of 3D object trackers,…

Monocular 3D object tracking aims to estimate temporally consistent 3D object poses across video frames, enabling autonomous agents to reason about scene dynamics. However, existing state-of-the-art approaches are fully supervised and rely…

Autonomous vehicles often perceive the environment by feeding sensor data to a learned detector algorithm, then feeding detections to a multi-object tracker that models object motions over time. Probabilistic models of multi-object trackers…

Capturing uncertainty in object detection is indispensable for safe autonomous driving. In recent years, deep learning has become the de-facto approach for object detection, and many probabilistic object detectors have been proposed.…

Monocular 3D object detection is an essential component in autonomous driving while challenging to solve, especially for those occluded samples which are only partially visible. Most detectors consider each 3D object as an independent…

Existing visual tracking methods usually localize a target object with a bounding box, in which the performance of the foreground object trackers or detectors is often affected by the inclusion of background clutter. To handle this problem,…

3D motion tracking is a critical task in many computer vision applications. Existing 3D motion tracking techniques require either a great amount of knowledge on the target object or specific hardware. These requirements discourage the wide…

LiDAR-based 3D object detectors have achieved unprecedented speed and accuracy in autonomous driving applications. However, similar to other neural networks, they are often biased toward high-confidence predictions or return detections…

In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…

Reliable uncertainty estimation is crucial for perception systems in safe autonomous driving. Recently, many methods have been proposed to model uncertainties in deep learning based object detectors. However, the estimated probabilities are…

With the rapid advancement of hardware and software technologies, research in autonomous driving has seen significant growth. The prevailing framework for multi-sensor autonomous driving encompasses sensor installation, perception, path…

In this paper, we introduce a new technique that combines two popular methods to estimate uncertainty in object detection. Quantifying uncertainty is critical in real-world robotic applications. Traditional detection models can be ambiguous…

Intuitively, motion blur may hurt the performance of visual object tracking. However, we lack quantitative evaluation of tracker robustness to different levels of motion blur. Meanwhile, while image deblurring methods can produce visually…

Accurate object tracking in low-light environments is crucial, particularly in surveillance and ethology applications. However, achieving this is significantly challenging due to the poor quality of captured sequences. Factors such as…

Visual object tracking (VOT) is an essential component for many applications, such as autonomous driving or assistive robotics. However, recent works tend to develop accurate systems based on more computationally expensive feature…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

Deep learning has led to great progress in the detection of mobile (i.e. movement-capable) objects in urban driving scenes in recent years. Supervised approaches typically require the annotation of large training sets; there has thus been…

Monocular 3D object detection is very challenging in autonomous driving due to the lack of depth information. This paper proposes a one-stage monocular 3D object detection algorithm based on multi-scale depth stratification, which uses the…