相关论文: Automatic Map Update Using Dashcam Videos

We propose a method for detecting structural changes in a city using images captured from vehicular mounted cameras over traversals at two different times. We first generate 3D point clouds for each traversal from the images and approximate…

Self-driving cars must detect other vehicles and pedestrians in 3D to plan safe routes and avoid collisions. State-of-the-art 3D object detectors, based on deep learning, have shown promising accuracy but are prone to over-fit to domain…

Autonomous agents often require accurate methods for detecting and localizing changes in their environment, particularly when observations are captured from unconstrained and inconsistent viewpoints. We propose a novel label-free,…

Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…

Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Self-localization on a 3D map by using an inexpensive monocular camera is required to realize autonomous driving. Self-localization based on a camera often uses a convolutional neural network (CNN) that can extract local features that are…

The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. However, the absence of accurate and automated registration…

Autonomous vehicles rely on precise high definition (HD) 3d maps for navigation. This paper presents the mapping component of an end-to-end system for crowdsourcing precise 3d maps with semantically meaningful landmarks such as traffic…

Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…

Vision-based localization in a prior map is of crucial importance for autonomous vehicles. Given a query image, the goal is to estimate the camera pose corresponding to the prior map, and the key is the registration problem of camera images…

Mobile mapping, in particular, Mobile Lidar Scanning (MLS) is increasingly widespread to monitor and map urban scenes at city scale with unprecedented resolution and accuracy. The resulting point cloud sampling of the scene geometry can be…

Detecting road features is a key enabler for autonomous driving and localization. For instance, a reliable detection of poles which are widespread in road environments can improve localization. Modern deep learning-based perception systems…

Change detection from traditional \added{2D} optical images has limited capability to model the changes in the height or shape of objects. Change detection using 3D point cloud \added{from photogrammetry or LiDAR surveying} can fill this…

We present a review of 3D point cloud processing and learning for autonomous driving. As one of the most important sensors in autonomous vehicles, light detection and ranging (LiDAR) sensors collect 3D point clouds that precisely record the…

Object detection and tracking are vital and fundamental tasks for autonomous driving, aiming at identifying and locating objects from those predefined categories in a scene. 3D point cloud learning has been attracting more and more…

Reliable and accurate lane detection has been a long-standing problem in the field of autonomous driving. In recent years, many approaches have been developed that use images (or videos) as input and reason in image space. In this paper we…

Autonomous vehicles were experiencing rapid development in the past few years. However, achieving full autonomy is not a trivial task, due to the nature of the complex and dynamic driving environment. Therefore, autonomous vehicles are…