相关论文: OmniDet: Surround View Cameras based Multi-task Vi…

This work describes the automatic registration of a large network (approximately 40) of fixed, ceiling-mounted environment cameras spread over a large area (approximately 800 squared meters) using a mobile calibration robot equipped with a…

Self-driving cars hold significant potential to reduce traffic accidents, alleviate congestion, and enhance urban mobility. However, developing reliable AI systems for autonomous vehicles remains a substantial challenge. Over the past…

Although recent learning-based calibration methods can predict extrinsic and intrinsic camera parameters from a single image, the accuracy of these methods is degraded in fisheye images. This degradation is caused by mismatching between the…

In this paper, we introduce Semi-SMD, a novel metric depth estimation framework tailored for surrounding cameras equipment in autonomous driving. In this work, the input data consists of adjacent surrounding frames and camera parameters. We…

Although cameras are ubiquitous, robotic platforms typically rely on active sensors like LiDAR for direct 3D perception. In this work, we propose a novel self-supervised monocular depth estimation method combining geometry with a new deep…

Perceiving the surrounding environment is essential for enabling autonomous or assisted driving functionalities. Common tasks in this domain include detecting road users, as well as determining lane boundaries and classifying driving…

360-degree cameras offer the possibility to cover a large area, for example an entire room, without using multiple distributed vision sensors. However, geometric distortions introduced by their lenses make computer vision problems more…

Understanding 3D environments semantically is pivotal in autonomous driving applications where multiple computer vision tasks are involved. Multi-task models provide different types of outputs for a given scene, yielding a more holistic…

We introduce MGNet, a multi-task framework for monocular geometric scene understanding. We define monocular geometric scene understanding as the combination of two known tasks: Panoptic segmentation and self-supervised monocular depth…

With the great achievement of artificial intelligence, vehicle technologies have advanced significantly from human centric driving towards fully automated driving. An intelligent vehicle should be able to understand the driver's perception…

Current perception models in autonomous driving have become notorious for greatly relying on a mass of annotated data to cover unseen cases and address the long-tail problem. On the other hand, learning from unlabeled large-scale collected…

The low-light conditions are challenging to the vision-centric perception systems for autonomous driving in the dark environment. In this paper, we propose a new benchmark dataset (named DarkDriving) to investigate the low-light enhancement…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

Current end-to-end deep learning driving models have two problems: (1) Poor generalization ability of unobserved driving environment when diversity of training driving dataset is limited (2) Lack of accident explanation ability when driving…

Visual perception in autonomous driving is a crucial part of a vehicle to navigate safely and sustainably in different traffic conditions. However, in bad weather such as heavy rain and haze, the performance of visual perception is greatly…

Fisheye cameras are increasingly adopted in robotics for near-field manipulation, navigation, and immersive perception, yet indoor depth benchmarks with accurate ground truth are still missing. To address this, we introduce WideDepth - the…

Traffic scene understanding is essential for enabling autonomous vehicles to accurately perceive and interpret their environment, thereby ensuring safe navigation. This paper presents a novel framework that transforms a single frontal-view…

3D scene understanding plays a vital role in vision-based autonomous driving. While most existing methods focus on 3D object detection, they have difficulty describing real-world objects of arbitrary shapes and infinite classes. Towards a…

Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, and emergency takeover. However, current robotic visual…

Autonomous driving is a multi-task problem requiring a deep understanding of the visual environment. End-to-end autonomous systems have attracted increasing interest as a method of learning to drive without exhaustively programming…