相关论文: BlindSpotNet: Seeing Where We Cannot See

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…

For many automated driving functions, a highly accurate perception of the vehicle environment is a crucial prerequisite. Modern high-resolution radar sensors generate multiple radar targets per object, which makes these sensors particularly…

In this paper, we introduce a method for estimating blind spots for sensor setups of autonomous or automated vehicles and/or robotics applications. In comparison to previous methods that rely on geometric approximations, our presented…

Conventional camera-based 3D object detectors in autonomous driving are limited to recognizing a predefined set of objects, which poses a safety risk when encountering novel or unseen objects in real-world scenarios. To address this…

Estimating the 3D structure of the drivable surface and surrounding environment is a crucial task for assisted and autonomous driving. It is commonly solved either by using 3D sensors such as LiDAR or directly predicting the depth of points…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

Visibility distance on the road pathway plays a significant role in road safety and in particular, has a clear impact on the choice of speed limits. Visibility distance is thus of importance for road engineers and authorities. While…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…

Robust road surface estimation is required for autonomous ground vehicles to navigate safely. Despite it becoming one of the main targets for autonomous mobility researchers in recent years, it is still an open problem in which cameras and…

Recent automotive vision work has focused almost exclusively on processing forward-facing cameras. However, future autonomous vehicles will not be viable without a more comprehensive surround sensing, akin to a human driver, as can be…

Lane detection is to detect lanes on the road and provide the accurate location and shape of each lane. It severs as one of the key techniques to enable modern assisted and autonomous driving systems. However, several unique properties of…

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…

Road boundaries, or curbs, provide autonomous vehicles with essential information when interpreting road scenes and generating behaviour plans. Although curbs convey important information, they are difficult to detect in complex urban…

Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…

Monocular depth estimation is a critical task for autonomous driving and many other computer vision applications. While significant progress has been made in this field, the effects of viewpoint shifts on depth estimation models remain…

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…

We propose a robust method for estimating road curb 3D parameters (size, location, orientation) using a calibrated monocular camera equipped with a fisheye lens. Automatic curb detection and localization is particularly important in the…

Understanding the world in 3D is a critical component of urban autonomous driving. Generally, the combination of expensive LiDAR sensors and stereo RGB imaging has been paramount for successful 3D object detection algorithms, whereas…

Although cameras are ubiquitous, robotic platforms typically rely on active sensors like LiDAR for direct 3D perception. In this work, we propose a novel self-supervised monocular depth estimation method combining geometry with a new deep…

Light Detection And Ranging (LiDAR) has been widely used in autonomous vehicles for perception and localization. However, the cost of a high-resolution LiDAR is still prohibitively expensive, while its low-resolution counterpart is much…