相关论文: Monocular Road Planar Parallax Estimation

Active vision is inherently attention-driven: The agent actively selects views to attend in order to fast achieve the vision task while improving its internal representation of the scene being observed. Inspired by the recent success of…

Lane graph estimation is an essential and highly challenging task in automated driving and HD map learning. Existing methods using either onboard or aerial imagery struggle with complex lane topologies, out-of-distribution scenarios, or…

In the area of autonomous driving, navigating off-road terrains presents a unique set of challenges, from unpredictable surfaces like grass and dirt to unexpected obstacles such as bushes and puddles. In this work, we present a novel…

Recovering the 3D shape of transparent objects using a small number of unconstrained natural images is an ill-posed problem. Complex light paths induced by refraction and reflection have prevented both traditional and deep multiview stereo…

Real-time 3D reconstruction enables fast dense mapping of the environment which benefits numerous applications, such as navigation or live evaluation of an emergency. In contrast to most real-time capable approaches, our approach does not…

Localization is a critically essential and crucial enabler of autonomous robots. While deep learning has made significant strides in many computer vision tasks, it is still yet to make a sizeable impact on improving capabilities of metric…

Computer-aided diagnosis for low-dose computed tomography (CT) based on deep learning has recently attracted attention as a first-line automatic testing tool because of its high accuracy and low radiation exposure. However, existing methods…

Classical monocular Simultaneous Localization And Mapping (SLAM) and the recently emerging convolutional neural networks (CNNs) for monocular depth prediction represent two largely disjoint approaches towards building a 3D map of the…

Semantic Segmentation is a crucial component in the perception systems of many applications, such as robotics and autonomous driving that rely on accurate environmental perception and understanding. In literature, several approaches are…

In this paper, we proposed a new deep learning based dense monocular SLAM method. Compared to existing methods, the proposed framework constructs a dense 3D model via a sparse to dense mapping using learned surface normals. With single view…

In the event of sensor failure, autonomous vehicles need to safely execute emergency maneuvers while avoiding other vehicles on the road. To accomplish this, the sensor-failed vehicle must predict the future semantic behaviors of other…

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect…

Monocular 3D lane detection aims to estimate the 3D position of lanes from frontal-view (FV) images. However, existing methods are fundamentally constrained by the inherent ambiguity of single-frame input, which leads to inaccurate…

Robust road surface estimation is required for autonomous ground vehicles to navigate safely. Despite it becoming one of the main targets for autonomous mobility researchers in recent years, it is still an open problem in which cameras and…

Autonomous assembly of objects is an essential task in robotics and 3D computer vision. It has been studied extensively in robotics as a problem of motion planning, actuator control and obstacle avoidance. However, the task of developing a…

Real-time semantic segmentation of LiDAR data is crucial for autonomously driving vehicles, which are usually equipped with an embedded platform and have limited computational resources. Approaches that operate directly on the point cloud…

Multi-object tracking (MOT) in monocular videos is fundamentally challenged by occlusions and depth ambiguity, issues that conventional tracking-by-detection (TBD) methods struggle to resolve owing to a lack of geometric awareness. To…

We present a new approach to the problem of estimating the 3D room layout from a single panoramic image. We represent room layout as three 1D vectors that encode, at each image column, the boundary positions of floor-wall and ceiling-wall,…

Real-scale scene flow estimation has become increasingly important for 3D computer vision. Some works successfully estimate real-scale 3D scene flow with LiDAR. However, these ubiquitous and expensive sensors are still unlikely to be…

Recent advances in monocular 3D detection leverage a depth estimation network explicitly as an intermediate stage of the 3D detection network. Depth map approaches yield more accurate depth to objects than other methods thanks to the depth…