相关论文: Visual Point Cloud Forecasting enables Scalable Au…
Capabilities of inference and prediction are significant components of visual systems. In this paper, we address an important and challenging task of them: visual path prediction. Its goal is to infer the future path for a visual object in…
Recent advancements in vision foundation models (VFMs) have revolutionized visual perception in 2D, yet their potential for 3D scene understanding, particularly in autonomous driving applications, remains underexplored. In this paper, we…
Point cloud segmentation (PCS) aims to make per-point predictions and enables robots and autonomous driving cars to understand the environment. The range image is a dense representation of a large-scale outdoor point cloud, and segmentation…
A crucial capability of real-world intelligent agents is their ability to plan a sequence of actions to achieve their goals in the visual world. In this work, we address the problem of visual semantic planning: the task of predicting a…
A key challenge for autonomous driving lies in maintaining real-time situational awareness regarding surrounding obstacles under strict latency constraints. The high processing requirements coupled with limited onboard computational…
Environment perception including detection, classification, tracking, and motion prediction are key enablers for automated driving systems and intelligent transportation applications. Fueled by the advances in sensing technologies and…
In recent years, computer vision has transformed fields such as medical imaging, object recognition, and geospatial analytics. One of the fundamental tasks in computer vision is semantic image segmentation, which is vital for precise object…
Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…
Autonomous driving is a complex and challenging task that aims at safe motion planning through scene understanding and reasoning. While vision-only autonomous driving methods have recently achieved notable performance, through enhanced…
Holistically understanding an object and its 3D movable parts through visual perception models is essential for enabling an autonomous agent to interact with the world. For autonomous driving, the dynamics and states of vehicle parts such…
An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…
Semantic shape completion is a challenging problem in 3D computer vision where the task is to generate a complete 3D shape using a partial 3D shape as input. We propose a learning-based approach to complete incomplete 3D shapes through…
A crucial task in scene understanding is 3D object detection, which aims to detect and localize the 3D bounding boxes of objects belonging to specific classes. Existing 3D object detectors heavily rely on annotated 3D bounding boxes during…
End-to-end autonomous driving has made impressive progress in recent years. Existing methods usually adopt the decoupled encoder-decoder paradigm, where the encoder extracts hidden features from raw sensor data, and the decoder outputs the…
In the efforts for safer roads, ensuring adequate vertical clearance above roadways is of great importance. Frequently, trees or other vegetation is growing above the roads, blocking the sight of traffic signs and lights and posing danger…
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…
In this paper, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as LiDARs. The main goal is to gradually explore an area while…
Self-driving vehicles (SDVs) hold great potential for improving traffic safety and are poised to positively affect the quality of life of millions of people. To unlock this potential one of the critical aspects of the autonomous technology…
This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…
Strong evidence suggests that humans perceive the 3D world by parsing visual scenes and objects into part-whole hierarchies. Although deep neural networks have the capability of learning powerful multi-level representations, they can not…