相关论文: Probabilistic Approach for Road-Users Detection

Object detection plays an important role in self-driving cars for security development. However, mobile systems on self-driving cars with limited computation resources lead to difficulties for object detection. To facilitate this, we…

Autonomous vehicles rely on LiDAR sensors to detect obstacles such as pedestrians, other vehicles, and fixed infrastructures. LiDAR spoofing attacks have been demonstrated that either create erroneous obstacles or prevent detection of real…

Foundation models, especially vision-language models (VLMs), offer compelling zero-shot object detection for applications like autonomous driving, a domain where manual labelling is prohibitively expensive. However, their detection latency…

Open World Object Detection (OWOD) is a new and challenging computer vision task that bridges the gap between classic object detection (OD) benchmarks and object detection in the real world. In addition to detecting and classifying…

Image-based 3D object detection is an inevitable part of autonomous driving because cheap onboard cameras are already available in most modern cars. Because of the accurate depth information, currently, most state-of-the-art 3D object…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

Lidar based 3D object detection is inevitable for autonomous driving, because it directly links to environmental understanding and therefore builds the base for prediction and motion planning. The capacity of inferencing highly sparse 3D…

This paper presents an novel object type classification method for automotive applications which uses deep learning with radar reflections. The method provides object class information such as pedestrian, cyclist, car, or non-obstacle. The…

The detection of small road hazards, such as lost cargo, is a vital capability for self-driving cars. We tackle this challenging and rarely addressed problem with a vision system that leverages appearance, contextual as well as geometric…

With the human pursuit of knowledge, open-set object detection (OSOD) has been designed to identify unknown objects in a dynamic world. However, an issue with the current setting is that all the predicted unknown objects share the same…

Autonomous vehicles often perceive the environment by feeding sensor data to a learned detector algorithm, then feeding detections to a multi-object tracker that models object motions over time. Probabilistic models of multi-object trackers…

Deep learning has led to great progress in the detection of mobile (i.e. movement-capable) objects in urban driving scenes in recent years. Supervised approaches typically require the annotation of large training sets; there has thus been…

Open World Object Detection (OWOD) combines open-set object detection with incremental learning capabilities to handle the challenge of the open and dynamic visual world. Existing works assume that a foreground predictor trained on the seen…

Recently, researchers have been leveraging LiDAR point cloud for higher accuracy in 3D vehicle detection. Most state-of-the-art methods are deep learning based, but are easily affected by the number of points generated on the object. This…

Environmental perception obtained via object detectors have no predictable safety layer encoded into their model schema, which creates the question of trustworthiness about the system's prediction. As can be seen from recent adversarial…

High degrees of disagreement among annotators can exist for ambiguous objects, e.g. in medical images, underscoring the challenges of establishing ground truth annotations in object detection tasks. Despite this, all existing object…

We address the problem of weakly supervised object localization where only image-level annotations are available for training object detectors. Numerous methods have been proposed to tackle this problem through mining object proposals.…

Deep learning (DL) has recently attracted increasing interest to improve object type classification for automotive radar.In addition to high accuracy, it is crucial for decision making in autonomous vehicles to evaluate the reliability of…

Open-World Object Detection (OWOD) extends object detection problem to a realistic and dynamic scenario, where a detection model is required to be capable of detecting both known and unknown objects and incrementally learning newly…

We present a robust real-time LiDAR 3D object detector that leverages heteroscedastic aleatoric uncertainties to significantly improve its detection performance. A multi-loss function is designed to incorporate uncertainty estimations…