相关论文: Towards an Error-free Deep Occupancy Detector for …

In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to…

Dynamic Occupancy Grid Mapping is a technique used to generate a local map of the environment containing both static and dynamic information. Typically, these maps are primarily generated using lidar measurements. However, with improvements…

Object Detection, a fundamental computer vision problem, has paramount importance in smart camera systems. However, a truly reliable camera system could be achieved if and only if the underlying object detection component is robust enough…

We propose a method to optimally position a sensor system, which consists of multiple sensors, each has limited range and viewing angle, and they may fail with a certain failure rate. The goal is to find the optimal locations as well as the…

Visual localization is an essential component of intelligent transportation systems, enabling broad applications that require understanding one's self location when other sensors are not available. It is mostly tackled by image retrieval…

Motion prediction is a challenging task for autonomous vehicles due to uncertainty in the sensor data, the non-deterministic nature of future, and complex behavior of agents. In this paper, we tackle this problem by representing the scene…

In real-world applications where confidence is key, like autonomous driving, the accurate detection and appropriate handling of classes differing from those used during training are crucial. Despite the proposal of various unknown object…

Existing anchor-based and anchor-free object detectors in multi-stage or one-stage pipelines have achieved very promising detection performance. However, they still encounter the design difficulty in hand-crafted 2D anchor definition and…

Autonomous vehicles demand high accuracy and robustness of perception algorithms. To develop efficient and scalable perception algorithms, the maximum information should be extracted from the available sensor data. In this work, we present…

3D instance segmentation, with a variety of applications in robotics and augmented reality, is in large demands these days. Unlike 2D images that are projective observations of the environment, 3D models provide metric reconstruction of the…

Estimating the 3D pose of desktop objects is crucial for applications such as robotic manipulation. Many existing approaches to this problem require a depth map of the object for both training and prediction, which restricts them to opaque,…

Reliable object detection using cameras plays a crucial role in enabling autonomous vehicles to perceive their surroundings. However, existing camera-based object detection approaches for autonomous driving lack the ability to provide…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

Recent camera-based 3D object detection is limited by the precision of transforming from image to 3D feature spaces, as well as the accuracy of object localization within the 3D space. This paper aims to address such a fundamental problem…

Computationally efficient moving object detection and depth estimation from a stereo camera is an extremely useful tool for many computer vision applications, including robotics and autonomous driving. In this paper we show how moving…

A self-driving vehicle (SDV) must be able to perceive its surroundings and predict the future behavior of other traffic participants. Existing works either perform object detection followed by trajectory forecasting of the detected objects,…

Detecting pedestrians, especially under heavy occlusions, is a challenging computer vision problem with numerous real-world applications. This paper introduces a novel approach, termed as PSC-Net, for occluded pedestrian detection. The…

Deep learning has recently demonstrated its promising performance for vision-based parking-slot detection. However, very few existing methods explicitly take into account learning the link information of the marking-points, resulting in…

Deep Neural Networks trained in a fully supervised fashion are the dominant technology in perception-based autonomous driving systems. While collecting large amounts of unlabeled data is already a major undertaking, only a subset of it can…

Smart automated traffic enforcement solutions have been gaining popularity in recent years. These solutions are ubiquitously used for seat-belt violation detection, red-light violation detection and speed violation detection purposes.…