相关论文: Reconstruct from BEV: A 3D Lane Detection Approach…

Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…

Lane detection is typically tackled with a two-step pipeline in which a segmentation mask of the lane markings is predicted first, and a lane line model (like a parabola or spline) is fitted to the post-processed mask next. The problem with…

3D object detection from LiDAR data for autonomous driving has been making remarkable strides in recent years. Among the state-of-the-art methodologies, encoding point clouds into a bird's eye view (BEV) has been demonstrated to be both…

In 3D shape recognition, multi-view based methods leverage human's perspective to analyze 3D shapes and have achieved significant outcomes. Most existing research works in deep learning adopt handcrafted networks as backbones due to their…

Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…

Lane detection is one of the fundamental modules in self-driving. In this paper we employ a transformer-only method for lane detection, thus it could benefit from the blooming development of fully vision transformer and achieve the…

Autonomous driving requires understanding infrastructure elements, such as lanes and crosswalks. To navigate safely, this understanding must be derived from sensor data in real-time and needs to be represented in vectorized form. Learned…

Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent scale information from monocular cameras. Traditional methods…

Learning robust and effective representations of visual data is a fundamental task in computer vision. Traditionally, this is achieved by training models with labeled data which can be expensive to obtain. Self-supervised learning attempts…

Effective BEV object detection on infrastructure can greatly improve traffic scenes understanding and vehicle-toinfrastructure (V2I) cooperative perception. However, cameras installed on infrastructure have various postures, and previous…

This paper aims to design a 3D object detection model from 2D images taken by monocular cameras by combining the estimated bird's-eye view elevation map and the deep representation of object features. The proposed model has a pre-trained…

Monocular 3D human pose estimation remains a challenging and ill-posed problem, particularly in real-time settings and unconstrained environments. While direct imageto-3D approaches require large annotated datasets and heavy models,…

This paper proposes \textit{Contour Context}, a simple, effective, and efficient topological loop closure detection pipeline with accurate 3-DoF metric pose estimation, targeting the urban utonomous driving scenario. We interpret the…

Pipe inspection is a critical task for many industries and infrastructure of a city. The 3D information of a pipe can be used for revealing the deformation of the pipe surface and position of the camera during the inspection. In this paper,…

Light-weight camera localization in existing maps is essential for vision-based navigation. Currently, visual and visual-inertial odometry (VO\&VIO) techniques are well-developed for state estimation but with inevitable accumulated drifts…

Curve-based methods are one of the classic lane detection methods. They learn the holistic representation of lane lines, which is intuitive and concise. However, their performance lags behind the recent state-of-the-art methods due to the…

Monocular 3D object detection is of great significance for autonomous driving but remains challenging. The core challenge is to predict the distance of objects in the absence of explicit depth information. Unlike regressing the distance as…

Monocular 3D face reconstruction is a wide-spread topic, and existing approaches tackle the problem either through fast neural network inference or offline iterative reconstruction of face geometry. In either case carefully-designed energy…

Camera-based 3D object detection and tracking are central to autonomous driving, yet precise 3D object localization remains fundamentally constrained by depth ambiguity when no expensive, depth-rich online LiDAR is available at inference.…

The performance of point cloud 3D object detection hinges on effectively representing raw points, grid-based voxels or pillars. Recent two-stage 3D detectors typically take the point-voxel-based R-CNN paradigm, i.e., the first stage resorts…