相关论文: Multi-Modal Multi-Task (3MT) Road Segmentation

Dense 3D reconstruction has many applications in automated driving including automated annotation validation, multimodal data augmentation, providing ground truth annotations for systems lacking LiDAR, as well as enhancing auto-labeling…

In the recent literature, on the one hand, many 3D multi-object tracking (MOT) works have focused on tracking accuracy and neglected computation speed, commonly by designing rather complex cost functions and feature extractors. On the other…

Online 3D multi-object tracking (MOT) has witnessed significant research interest in recent years, largely driven by demand from the autonomous systems community. However, 3D offline MOT is relatively less explored. Labeling 3D trajectory…

Moving object segmentation (MOS) provides a reliable solution for detecting traffic participants and thus is of great interest in the autonomous driving field. Dynamic capture is always critical in the MOS problem. Previous methods capture…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

We present an efficient multi-sensor odometry system for mobile platforms that jointly optimizes visual, lidar, and inertial information within a single integrated factor graph. This runs in real-time at full framerate using fixed lag…

Current multi-modal object detection approaches focus on the vehicle domain and are limited in the perception range and the processing capabilities. Roadside sensor units (RSUs) introduce a new domain for perception systems and leverage…

3D multi-object tracking (MOT) is essential for an autonomous mobile agent to safely navigate a scene. In order to maximize the perception capabilities of the autonomous agent, we aim to develop a 3D MOT framework that fuses camera and…

Road detection and segmentation is a crucial task in computer vision for safe autonomous driving. With this in mind, a new net architecture (3D-DEEP) and its end-to-end training methodology for CNN-based semantic segmentation are described…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

3D multi-object tracking (MOT) is essential to applications such as autonomous driving. Recent work focuses on developing accurate systems giving less attention to computational cost and system complexity. In contrast, this work proposes a…

This paper presents the FPGA design of a convolutional neural network (CNN) based road segmentation algorithm for real-time processing of LiDAR data. For autonomous vehicles, it is important to perform road segmentation and obstacle…

Autonomous driving is a popular research area within the computer vision research community. Since autonomous vehicles are highly safety-critical, ensuring robustness is essential for real-world deployment. While several public multimodal…

Multi-modal sensor integration has become a crucial prerequisite for the real-world navigation systems. Recent studies have reported successful deployment of such system in many fields. However, it is still challenging for navigation tasks…

We introduce a simple yet effective fusion method of LiDAR and RGB data to segment LiDAR point clouds. Utilizing the dense native range representation of a LiDAR sensor and the setup calibration, we establish point correspondences between…

Multimodal image fusion and semantic segmentation are critical for autonomous driving. Despite advancements, current models often struggle with segmenting densely packed elements due to a lack of comprehensive fusion features for guidance…

Vision sensors are becoming more important in Intelligent Transportation Systems (ITS) for traffic monitoring, management, and optimization as the number of network cameras continues to rise. However, manual object tracking and matching…

Autonomous systems have advanced significantly, but challenges persist in accident-prone environments where robust decision-making is crucial. A single vehicle's limited sensor range and obstructed views increase the likelihood of…

Multi-modal methods based on camera and LiDAR sensors have garnered significant attention in the field of 3D detection. However, many prevalent works focus on single or partial stage fusion, leading to insufficient feature extraction and…

Road network extraction from satellite images is widely applicated in intelligent traffic management and autonomous driving fields. The high-resolution remote sensing images contain complex road areas and distracted background, which make…