相关论文: DoubleStar: Long-Range Attack Towards Depth Estima…

Nowadays stereo cameras are more commonly adopted in emerging devices such as dual-lens smartphones and unmanned aerial vehicles. However, they also suffer from blurry images in dynamic scenes which leads to visual discomfort and hampers…

3D object detection is a key component of many robotic applications such as self-driving vehicles. While many approaches rely on expensive 3D sensors such as LiDAR to produce accurate 3D estimates, methods that exploit stereo cameras have…

We address the problem of optical decalibration in mobile stereo camera setups, especially in context of autonomous vehicles. In real world conditions, an optical system is subject to various sources of anticipated and unanticipated…

Camera-based perception is critical to autonomous driving yet remains vulnerable to task-specific adversarial manipulations in object detection and monocular depth estimation. Most existing 2D/3D attacks are developed in task silos, lack…

End-to-end deep-learning networks recently demonstrated extremely good perfor- mance for stereo matching. However, existing networks are difficult to use for practical applications since (1) they are memory-hungry and unable to process even…

On-road obstacle detection is an important field of research that falls in the scope of intelligent transportation infrastructure systems. The use of vision-based approaches results in an accurate and cost-effective solution to such…

Monocular visual odometry approaches that purely rely on geometric cues are prone to scale drift and require sufficient motion parallax in successive frames for motion estimation and 3D reconstruction. In this paper, we propose to leverage…

This paper addresses the problem of real-time vision-based autonomous obstacle avoidance in unstructured environments for quadrotor UAVs. We assume that our UAV is equipped with a forward facing stereo camera as the only sensor to perceive…

Stereo matching methods rely on dense pixel-wise ground truth labels, which are laborious to obtain, especially for real-world datasets. The scarcity of labeled data and domain gaps between synthetic and real-world images also pose notable…

Although the number of camera-based sensors mounted on vehicles has recently increased dramatically, robust and accurate object velocity detection is difficult. Additionally, it is still common to use radar as a fusion system. We have…

The proliferation of smartphones and other mobile devices provides a unique opportunity to make Advanced Driver Assistance Systems (ADAS) accessible to everyone in the form of an application empowered by low-cost Machine/Deep Learning…

Backdoor attacks pose a severe threat to deep learning, yet their impact on object detection remains poorly understood compared to image classification. While attacks have been proposed, we identify critical weaknesses in existing…

3D object detection at long range is crucial for ensuring the safety and efficiency of self driving vehicles, allowing them to accurately perceive and react to objects, obstacles, and potential hazards from a distance. But most current…

Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…

Most existing algorithms for depth estimation from single monocular images need large quantities of metric groundtruth depths for supervised learning. We show that relative depth can be an informative cue for metric depth estimation and can…

With the developments of dual-lens camera modules,depth information representing the third dimension of thecaptured scenes becomes available for smartphones. It isestimated by stereo matching algorithms, taking as input thetwo views…

Radar has stronger adaptability in adverse scenarios for autonomous driving environmental perception compared to widely adopted cameras and LiDARs. Compared with commonly used 3D radars, the latest 4D radars have precise vertical resolution…

Integration of reinforcement learning with unmanned aerial vehicles (UAVs) to achieve autonomous flight has been an active research area in recent years. An important part focuses on obstacle detection and avoidance for UAVs navigating…

Estimating the distance to objects is crucial for autonomous vehicles when using depth sensors is not possible. In this case, the distance has to be estimated from on-board mounted RGB cameras, which is a complex task especially in…

Monocular Depth Estimation (MDE) plays a vital role in applications such as autonomous driving. However, various attacks target MDE models, with physical attacks posing significant threats to system security. Traditional adversarial…