相关论文: Road-aware Monocular Structure from Motion and Hom…

A new convolutional neural network (CNN) architecture for 2D driver/passenger pose estimation and seat belt detection is proposed in this paper. The new architecture is more nimble and thus more suitable for in-vehicle monitoring tasks…

Recently, deep learning approaches have achieved promising results in various fields of computer vision. In this paper, we tackle the problem of head pose estimation through a Convolutional Neural Network (CNN). Differently from other…

Automatic crack detection on pavement surfaces is an important research field in the scope of developing an intelligent transportation infrastructure system. In this paper, a cost effective solution for road crack inspection by mounting…

Both self-supervised depth estimation and Structure-from-Motion (SfM) recover scene depth from RGB videos. Despite sharing a similar objective, the two approaches are disconnected. Prior works of self-supervision backpropagate losses…

Our study introduces a novel, low-cost, and reproducible framework for real-time, object-level structural assessment and geolocation of roadside vegetation and infrastructure with commonly available but underutilized dashboard camera…

Recent works have shown the benefit of integrating Conditional Random Fields (CRFs) models into deep architectures for improving pixel-level prediction tasks. Following this line of research, in this paper we introduce a novel approach for…

Monocular depth estimation (MDE) has been widely adopted in the perception systems of autonomous vehicles and mobile robots. However, existing approaches often struggle to maintain temporal consistency in depth estimation across consecutive…

Mobile ground robots require perceiving and understanding their surrounding support surface to move around autonomously and safely. The support surface is commonly estimated based on exteroceptive depth measurements, e.g., from LiDARs.…

In this paper, we introduce a novel training method for making any monocular depth network learn absolute scale and estimate metric road-scene depth just from regular training data, i.e., driving videos. We refer to this training framework…

Efficient and accurate camera pose estimation forms the foundational requirement for dense reconstruction in autonomous navigation, robotic perception, and virtual simulation systems. This paper addresses the challenge via cuSfM, a…

In the current monocular depth research, the dominant approach is to employ unsupervised training on large datasets, driven by warped photometric consistency. Such approaches lack robustness and are unable to generalize to challenging…

Lane detection for autonomous vehicles is an important concept, yet it is a challenging issue of driver assistance systems in modern vehicles. The emergence of deep learning leads to significant progress in self-driving cars. Conventional…

Knowledge about the location of a vehicle is indispensable for autonomous driving. In order to apply global localisation methods, a pose prior must be known which can be obtained from visual odometry. The quality and robustness of that…

Recently, convolutional neural networks (CNNs) have shown great success on the task of monocular depth estimation. A fundamental yet unanswered question is: how CNNs can infer depth from a single image. Toward answering this question, we…

Monocular depth estimation (MDE) is a critical task to guide autonomous medical robots. However, obtaining absolute (metric) depth from an endoscopy camera in surgical scenes is difficult, which limits supervised learning of depth on real…

Visual Odometry (VO) estimation is an important source of information for vehicle state estimation and autonomous driving. Recently, deep learning based approaches have begun to appear in the literature. However, in the context of driving,…

The primary contribution of this paper is an efficient Structure from Motion (SfM) solution for oblique unmanned aerial vehicle (UAV) images. First, an algorithm, considering spatial relationship constrains between image footprints, is…

Deep learning-based, single-view depth estimation methods have recently shown highly promising results. However, such methods ignore one of the most important features for determining depth in the human vision system, which is motion. We…

Deep convolutional neural networks (CNN) have achieved great success. On the other hand, modeling structural information has been proved critical in many vision problems. It is of great interest to integrate them effectively. In a classical…

Supervised and unsupervised homography estimation methods depend on image pairs tailored to specific modalities to achieve high accuracy. However, their performance deteriorates substantially when applied to unseen modalities. To address…