相关论文: An Efficient Convex Hull-based Vehicle Pose Estima…

With the rapid development of autonomous driving, LiDAR-based 3D Human Pose Estimation (3D HPE) is becoming a research focus. However, due to the noise and sparsity of LiDAR-captured point clouds, robust human pose estimation remains…

We present a novel appearance-based approach for pose estimation of a human hand using the point clouds provided by the low-cost Microsoft Kinect sensor. Both the free-hand case, in which the hand is isolated from the surrounding…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

Current human pose estimation systems focus on retrieving an accurate 3D global estimate of a single person. Therefore, this paper presents one of the first 3D multi-person human pose estimation systems that is able to work in real-time and…

Road curb detection is very important and necessary for autonomous driving because it can improve the safety and robustness of robot navigation in the outdoor environment. In this paper, a novel road curb detection method based on tensor…

The main challenge in 3D object detection from LiDAR point clouds is achieving real-time performance without affecting the reliability of the network. In other words, the detecting network must be confident enough about its predictions. In…

We propose a novel method to estimate a driver's points-of-gaze using a pair of ordinary cameras mounted on the windshield and dashboard of a car. This is a challenging problem due to the dynamics of traffic environments with 3D scenes of…

We propose a viewpoint invariant model for 3D human pose estimation from a single depth image. To achieve this, our discriminative model embeds local regions into a learned viewpoint invariant feature space. Formulated as a multi-task…

High-precision localization is pivotal in underwater reinspection missions. Traditional localization methods like inertial navigation systems, Doppler velocity loggers, and acoustic positioning face significant challenges and are not…

Finding the three-dimensional representation of all or a part of a scene from a single two dimensional image is a challenging task. In this paper we propose a method for identifying the pose and location of objects with circular protrusions…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

Pedestrian detection is an important component for safety of autonomous vehicles, as well as for traffic and street surveillance. There are extensive benchmarks on this topic and it has been shown to be a challenging problem when applied on…

Automatic extraction of road curbs from uneven, unorganized, noisy and massive 3D point clouds is a challenging task. Existing methods often project 3D point clouds onto 2D planes to extract curbs. However, the projection causes loss of 3D…

Estimating pose of the head is an important preprocessing step in many pattern recognition and computer vision systems such as face recognition. Since the performance of the face recognition systems is greatly affected by the poses of the…

6D object pose estimation holds essential roles in various fields, particularly in the grasping of industrial workpieces. Given challenges like rust, high reflectivity, and absent textures, this paper introduces a point cloud based pose…

Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…

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…

In this paper, we propose a method for coarse camera pose computation which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment of robotics or augmented…

Aiming at highly accurate object detection for connected and automated vehicles (CAVs), this paper presents a Deep Neural Network based 3D object detection model that leverages a three-stage feature extractor by developing a novel…

The autonomous car must recognize the driving environment quickly for safe driving. As the Light Detection And Range (LiDAR) sensor is widely used in the autonomous car, fast semantic segmentation of LiDAR point cloud, which is the…