相关论文: Forecasting from LiDAR via Future Object Detection

Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

Object detection and motion parameters estimation are crucial tasks for self-driving vehicle safe navigation in a complex urban environment. In this work we propose a novel real-time approach of temporal context aggregation for motion…

3D single object tracking (SOT) methods based on appearance matching has long suffered from insufficient appearance information incurred by incomplete, textureless and semantically deficient LiDAR point clouds. While motion paradigm…

Predicting future trajectories is critical in autonomous navigation, especially in preventing accidents involving humans, where a predictive agent's ability to anticipate in advance is of utmost importance. Trajectory forecasting models,…

Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…

Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Conventional tracking paradigm takes in instantaneous measurements such as range and bearing, and produces object tracks across time. In applications such as autonomous driving, lidar measurements in the form of point clouds are usually…

Object detection on Lidar point cloud data is a promising technology for autonomous driving and robotics which has seen a significant rise in performance and accuracy during recent years. Particularly uncertainty estimation is a crucial…

Multi-Object Tracking (MOT) has been a long-standing challenge in video understanding. A natural and intuitive approach is to split this task into two parts: object detection and association. Most mainstream methods employ meticulously…

In this paper, we describe a strategy for training neural networks for object detection in range images obtained from one type of LiDAR sensor using labeled data from a different type of LiDAR sensor. Additionally, an efficient model for…

The ability for an autonomous agent or robot to track and identify potentially multiple objects in a dynamic environment is essential for many applications, such as automated surveillance, traffic monitoring, human-robot interaction, etc.…

Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or…

Trajectory Prediction of dynamic objects is a widely studied topic in the field of artificial intelligence. Thanks to a large number of applications like predicting abnormal events, navigation system for the blind, etc. there have been many…

Anticipation problem has been studied considering different aspects such as predicting humans' locations, predicting hands and objects trajectories, and forecasting actions and human-object interactions. In this paper, we studied the…

Modern multi-object tracking (MOT) systems usually model the trajectories by associating per-frame detections. However, when camera motion, fast motion, and occlusion challenges occur, it is difficult to ensure long-range tracking or even…

Edge detection has long been an important problem in the field of computer vision. Previous works have explored category-agnostic or category-aware edge detection. In this paper, we explore edge detection in the context of object instances.…

This work is devoted to the problem of distributed target tracking when a team of robots detect the target through a variable perception-latency mechanism. A reference for the robots to track is constructed in terms of a desired formation…

Large driving datasets are a key component in the current development and safeguarding of automated driving functions. Various methods can be used to collect such driving data records. In addition to the use of sensor equipped research…