相关论文: STEPS: Joint Self-supervised Nighttime Image Enhan…

The self-supervised learning of depth and pose from monocular sequences provides an attractive solution by using the photometric consistency of nearby frames as it depends much less on the ground-truth data. In this paper, we address the…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

Inferring the depth of images is a fundamental inverse problem within the field of Computer Vision since depth information is obtained through 2D images, which can be generated from infinite possibilities of observed real scenes. Benefiting…

We propose a new self-supervised method for pre-training the backbone of deep perception models operating on point clouds. The core idea is to train the model on a pretext task which is the reconstruction of the surface on which the 3D…

Autonomous vehicles and robots often struggle with reliable visual perception at night due to the low illumination and motion blur caused by the long exposure time of RGB cameras. Existing methods address this challenge by sequentially…

Self-supervised learning of depth map prediction and motion estimation from monocular video sequences is of vital importance -- since it realizes a broad range of tasks in robotics and autonomous vehicles. A large number of research efforts…

This work investigates learning pixel-wise semantic image segmentation in urban scenes without any manual annotation, just from the raw non-curated data collected by cars which, equipped with cameras and LiDAR sensors, drive around a city.…

Learning based methods have shown very promising results for the task of depth estimation in single images. However, most existing approaches treat depth prediction as a supervised regression problem and as a result, require vast quantities…

We present a method for inferring dense depth maps from images and sparse depth measurements by leveraging synthetic data to learn the association of sparse point clouds with dense natural shapes, and using the image as evidence to validate…

Weakly supervised point cloud semantic segmentation methods that require 1\% or fewer labels, hoping to realize almost the same performance as fully supervised approaches, which recently, have attracted extensive research attention. A…

Current, self-supervised depth estimation architectures rely on clear and sunny weather scenes to train deep neural networks. However, in many locations, this assumption is too strong. For example in the UK (2021), 149 days consisted of…

Low light conditions not only degrade human visual experience, but also reduce the performance of downstream machine analytics. Although many works have been designed for low-light enhancement or domain adaptive machine analytics, the…

Depth estimation plays a pivotal role in autonomous driving, facilitating a comprehensive understanding of the vehicle's 3D surroundings. Radar, with its robustness to adverse weather conditions and capability to measure distances, has…

LiDAR-camera extrinsic calibration is essential for multi-modal data fusion in robotic perception systems. However, existing approaches typically rely on handcrafted calibration targets (e.g., checkerboards) or specific, static scene types,…

Deploying depth estimation networks in the real world requires high-level robustness against various adverse conditions to ensure safe and reliable autonomy. For this purpose, many autonomous vehicles employ multi-modal sensor systems,…

In this paper, we tackle the problem of enhancing real-world low-light images with significant noise in an unsupervised fashion. Conventional unsupervised learning-based approaches usually tackle the low-light image enhancement problem…

Semi-supervised 3D object detection is a common strategy employed to circumvent the challenge of manually labeling large-scale autonomous driving perception datasets. Pseudo-labeling approaches to semi-supervised learning adopt a…

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…

This paper presents a novel self-supervised two-frame multi-camera metric depth estimation network, termed M${^2}$Depth, which is designed to predict reliable scale-aware surrounding depth in autonomous driving. Unlike the previous works…

Unsupervised object discovery aims to localize objects in images, while removing the dependence on annotations required by most deep learning-based methods. To address this problem, we propose a fully unsupervised, bottom-up approach, for…