相关论文: Learning to Predict 3D Lane Shape and Camera Pose …

3D lanes offer a more comprehensive understanding of the road surface geometry than 2D lanes, thereby providing crucial references for driving decisions and trajectory planning. While many efforts aim to improve prediction accuracy, we…

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…

One of the main factors that contributed to the large advances in autonomous driving is the advent of deep learning. For safer self-driving vehicles, one of the problems that has yet to be solved completely is lane detection. Since methods…

Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

Category-level 3D pose estimation is a fundamentally important problem in computer vision and robotics, e.g. for embodied agents or to train 3D generative models. However, so far methods that estimate the category-level object pose require…

Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…

Scene context is a powerful constraint on the geometry of objects within the scene in cases, such as surveillance, where the camera geometry is unknown and image quality may be poor. In this paper, we describe a method for estimating the…

We present ONCE-3DLanes, a real-world autonomous driving dataset with lane layout annotation in 3D space. Conventional 2D lane detection from a monocular image yields poor performance of following planning and control tasks in autonomous…

Compared to 2D lanes, real 3D lane data is difficult to collect accurately. In this paper, we propose a novel method for training 3D lanes with only 2D lane labels, called weakly supervised 3D lane detection WS-3D-Lane. By assumptions of…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision. Our proposed method of registering a 3D model of a known object on a given 2D photo of the object has numerous…

In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…

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…

3D lane detection is an integral part of autonomous driving systems. Previous CNN and Transformer-based methods usually first generate a bird's-eye-view (BEV) feature map from the front view image, and then use a sub-network with BEV…

3D lane detection and topology reasoning are essential tasks in autonomous driving scenarios, requiring not only detecting the accurate 3D coordinates on lane lines, but also reasoning the relationship between lanes and traffic elements.…

We propose a novel camera-based DNN method for 3D lane detection with uncertainty estimation. Our method is based on a semi-local, BEV, tile representation that breaks down lanes into simple lane segments. It combines learning a parametric…

Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…

3D lane detection from monocular images is a fundamental yet challenging task in autonomous driving. Recent advances primarily rely on structural 3D surrogates (e.g., bird's eye view) built from front-view image features and camera…

Human pose estimation is a key step to action recognition. We propose a method of estimating 3D human poses from a single image, which works in conjunction with an existing 2D pose/joint detector. 3D pose estimation is challenging because…