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Online multi-object tracking (MOT) plays a pivotal role in autonomous systems. The state-of-the-art approaches usually employ a tracking-by-detection method, and data association plays a critical role. This paper proposes a learning and…

The performance of deep networks for semantic image segmentation largely depends on the availability of large-scale training images which are labelled at the pixel level. Typically, such pixel-level image labellings are obtained manually by…

Probabilistic 3D map has been applied to object segmentation with multiple camera viewpoints, however, conventional methods lack of real-time efficiency and functionality of multilabel object mapping. In this paper, we propose a method to…

Current LiDAR-based 3D object detectors for autonomous driving are almost entirely trained on human-annotated data collected in specific geographical domains with specific sensor setups, making it difficult to adapt to a different domain.…

Moving object detection and segmentation is an essential task in the Autonomous Driving pipeline. Detecting and isolating static and moving components of a vehicle's surroundings are particularly crucial in path planning and localization…

The training of deep-learning-based 3D object detectors requires large datasets with 3D bounding box labels for supervision that have to be generated by hand-labeling. We propose a network architecture and training procedure for learning…

In this research, we present an end-to-end data-driven pipeline for determining the long-term stability status of objects within a given environment, specifically distinguishing between static and dynamic objects. Understanding object…

We propose a hybrid framework for consistently producing high-quality object tracks by combining an automated object tracker with little human input. The key idea is to tailor a module for each dataset to intelligently decide when an object…

In this paper, we propose an algorithm to generate a static point cloud map based on LiDAR point cloud data. Our proposed pipeline detects dynamic objects using 3D object detectors and projects points of dynamic objects onto the ground.…

Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

Despite the importance of unsupervised object detection, to the best of our knowledge, there is no previous work addressing this problem. One main issue, widely known to the community, is that object boundaries derived only from 2D image…

Self-driving cars must detect other vehicles and pedestrians in 3D to plan safe routes and avoid collisions. State-of-the-art 3D object detectors, based on deep learning, have shown promising accuracy but are prone to over-fit to domain…

This paper presents a novel multi-modal Multi-Object Tracking (MOT) algorithm for self-driving cars that combines camera and LiDAR data. Camera frames are processed with a state-of-the-art 3D object detector, whereas classical clustering…

The past few years have witnessed an increasing interest in improving the perception performance of LiDARs on autonomous vehicles. While most of the existing works focus on developing new deep learning algorithms or model architectures, we…

Human motion capture data has been widely used in data-driven character animation. In order to generate realistic, natural-looking motions, most data-driven approaches require considerable efforts of pre-processing, including motion…

Online multi-object tracking (MOT) is extremely important for high-level spatial reasoning and path planning for autonomous and highly-automated vehicles. In this paper, we present a modular framework for tracking multiple objects…

Modern AI algorithms require labeled data. In real world, majority of data are unlabeled. Labeling the data are costly. this is particularly true for some areas requiring special skills, such as reading radiology images by physicians. To…

Using deep learning, we now have the ability to create exceptionally good semantic segmentation systems; however, collecting the prerequisite pixel-wise annotations for training images remains expensive and time-consuming. Therefore, it…

Semantic segmentation of LiDAR points has significant value for autonomous driving and mobile robot systems. Most approaches explore spatio-temporal information of multi-scan to identify the semantic classes and motion states for each…