相关论文: Exploring intermediate representation for monocula…

Monocular camera systems are prevailing in intelligent transportation systems, but by far they have rarely been used for dimensional purposes such as to accurately estimate the localization information of a vehicle. In this paper, we show…

We propose an attitude and gyro-bias estimation scheme for accelerated rigid body systems using an inertial measurement unit (IMU) and a global positioning system (GPS). The proposed scheme allows to obtain attitude estimates directly on…

In many computer vision applications, images are acquired with arbitrary or random rotations and translations, and in such setups, it is desirable to obtain semantic representations disentangled from the image orientation. Examples of such…

In this work, we propose a novel single-shot and keypoints-based framework for monocular 3D objects detection using only RGB images, called KM3D-Net. We design a fully convolutional model to predict object keypoints, dimension, and…

This paper proposes a method to extract the position and pose of vehicles in the 3D world from a single traffic camera. Most previous monocular 3D vehicle detection algorithms focused on cameras on vehicles from the perspective of a driver,…

Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…

Geometric properties can be leveraged to stabilize and speed reinforcement learning. Existing examples include encoding symmetry structure, geometry-aware data augmentation, and enforcing structural restrictions. In this paper, we take a…

Accurate 3D reconstruction of vehicles is vital for applications such as vehicle inspection, predictive maintenance, and urban planning. Existing methods like Neural Radiance Fields and Gaussian Splatting have shown impressive results but…

Implicit Neural Representation (INR) has been emerging in computer vision in recent years. It has been shown to be effective in parameterising continuous signals such as dense 3D models from discrete image data, e.g. the neural radius field…

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 image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Implicit Neural Representations (INRs) are a versatile and powerful tool for encoding various forms of data, including images, videos, sound, and 3D shapes. A critical factor in the success of INRs is the initialization of the network,…

Implicit neural representation, which expresses an image as a continuous function rather than a discrete grid form, is widely used for image processing. Despite its outperforming results, there are still remaining limitations on restoring…

Recovering detailed facial geometry from a set of calibrated multi-view images is valuable for its wide range of applications. Traditional multi-view stereo (MVS) methods adopt an optimization-based scheme to regularize the matching cost.…

Trajectory representation learning is a fundamental task for applications in fields including smart city, and urban planning, as it facilitates the utilization of trajectory data (e.g., vehicle movements) for various downstream…

In this work we present WGANVO, a Deep Learning based monocular Visual Odometry method. In particular, a neural network is trained to regress a pose estimate from an image pair. The training is performed using a semi-supervised approach.…

Robots rely heavily on sensors, especially RGB and depth cameras, to perceive and interact with the world. RGB cameras record 2D images with rich semantic information while missing precise spatial information. On the other side, depth…

A common strategy to video understanding is to incorporate spatial and motion information by fusing features derived from RGB frames and optical flow. In this work, we introduce a new way to leverage semantic segmentation as an intermediate…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…

Implicit 3D surface reconstruction of an object from its partial and noisy 3D point cloud scan is the classical geometry processing and 3D computer vision problem. In the literature, various 3D shape representations have been developed,…