相关论文: Object Tracking and Geo-localization from Street I…

Accurate and effective 3D object detection is critical for ensuring the driving safety of autonomous vehicles. Recently, state-of-the-art two-stage 3D object detectors have exhibited promising performance. However, these methods refine…

In the past several years, road anomaly segmentation is actively explored in the academia and drawing growing attention in the industry. The rationale behind is straightforward: if the autonomous car can brake before hitting an anomalous…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…

In this work, we bridge the gap between recent pose estimation and tracking work to develop a powerful method for robots to track objects in their surroundings. Motion-Nets use a segmentation model to segment the scene, and separate…

Navigation signs and maps, such as floor plans and street maps, are widely available and serve as ubiquitous aids for way-finding in human environments. Yet, they are rarely used by robot systems. This paper presents SignLoc, a global…

Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…

Recently, lane detection has made great progress with the rapid development of deep neural networks and autonomous driving. However, there exist three mainly problems including characterizing lanes, modeling the structural relationship…

Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model.…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

The deployment of neural networks in vehicle platforms and wearable Artificial Intelligence-of-Things (AIOT) scenarios has become a research area that has attracted much attention. With the continuous evolution of deep learning technology,…

We propose a novel multi-task learning system that combines appearance and motion cues for a better semantic reasoning of the environment. A unified architecture for joint vehicle detection and motion segmentation is introduced. In this…

The availability of real-world data is a key element for novel developments in the fields of automotive and traffic research. Aerial imagery has the major advantage of recording multiple objects simultaneously and overcomes limitations such…

Visual localization is a useful alternative to standard localization techniques. It works by utilizing cameras. In a typical scenario, features are extracted from captured images and compared with geo-referenced databases. Location…

Street-level geolocalization from images is crucial for a wide range of essential applications and services, such as navigation, location-based recommendations, and urban planning. With the growing popularity of social media data and…

Semantic understanding of roadways is a key enabling factor for safe autonomous driving. However, existing autonomous driving datasets provide well-structured urban roads while ignoring unstructured roadways containing distress, potholes,…

Autonomous scene exposure and exploration, especially in localization or communication-denied areas, useful for finding targets in unknown scenes, remains a challenging problem in computer navigation. In this work, we present a novel method…

We present a robust and real time approach to lane marker detection in urban streets. It is based on generating a top view of the road, filtering using selective oriented Gaussian filters, using RANSAC line fitting to give initial guesses…

Traffic signboards are vital for road safety and intelligent transportation systems, enabling navigation and autonomous driving. Yet, recognizing traffic signs at night remains underexplored due to the scarcity of realistic public datasets…

Visual Place Recognition is a task that aims to predict the place of an image (called query) based solely on its visual features. This is typically done through image retrieval, where the query is matched to the most similar images from a…

Matching landmark patches from a real-time image captured by an on-vehicle camera with landmark patches in an image database plays an important role in various computer perception tasks for autonomous driving. Current methods focus on local…