相关论文: SEVD: Synthetic Event-based Vision Dataset for Ego…

End-to-end (E2E) autonomous driving (AD) models require diverse, high-quality data to perform well across various driving scenarios. However, collecting large-scale real-world data is expensive and time-consuming, making high-fidelity…

Using synthesized images to boost the performance of perception models is a long-standing research challenge in computer vision. It becomes more eminent in visual-centric autonomous driving systems with multi-view cameras as some long-tail…

In this work, we propose a novel framework for unsupervised learning for event cameras that learns motion information from only the event stream. In particular, we propose an input representation of the events in the form of a discretized…

Recently, Dynamic Vision Sensors (DVSs) sparked a lot of interest due to their inherent advantages over conventional RGB cameras. These advantages include a low latency, a high dynamic range and a low energy consumption. Nevertheless, the…

We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…

While inferring common actor states (such as position or velocity) is an important and well-explored task of the perception system aboard a self-driving vehicle (SDV), it may not always provide sufficient information to the SDV. This is…

Recently, as many studies of autonomous vehicles have been achieved for levels 4 and 5, there has been also increasing interest in the advancement of perception, decision, and control technologies, which are the three major aspects of…

Current research in semantic bird's-eye view segmentation for autonomous driving focuses solely on optimizing neural network models using a single dataset, typically nuScenes. This practice leads to the development of highly specialized…

One of the main challenges in developing autonomous transport systems based on connected and automated vehicles is the comprehension and understanding of the environment around each vehicle. In many situations, the understanding is limited…

The need for simulated data in autonomous driving applications has become increasingly important, both for validation of pretrained models and for training new models. In order for these models to generalize to real-world applications, it…

As neuromorphic sensors, event cameras asynchronously record changes in brightness as streams of sparse events with the advantages of high temporal resolution and high dynamic range. Reconstructing intensity images from events is a highly…

Event-stream representation is the first step for many computer vision tasks using event cameras. It converts the asynchronous event-streams into a formatted structure so that conventional machine learning models can be applied easily.…

This technical report details our work towards building an enhanced audio-visual sound event localization and detection (SELD) network. We build on top of the audio-only SELDnet23 model and adapt it to be audio-visual by merging both audio…

Event cameras are bio-inspired sensors that differ from conventional frame cameras: Instead of capturing images at a fixed rate, they asynchronously measure per-pixel brightness changes, and output a stream of events that encode the time,…

Adverse weather conditions, particularly heavy snowfall, pose significant challenges to both human drivers and autonomous vehicles. Traditional image-based de-snowing methods often introduce hallucination artifacts as they rely solely on…

Stereo camera systems play an important role in robotics applications to perceive the 3D world. However, conventional cameras have drawbacks such as low dynamic range, motion blur and latency due to the underlying frame-based mechanism.…

Deep learning models for self-driving cars require a diverse training dataset to manage critical driving scenarios on public roads safely. This includes having data from divergent trajectories, such as the oncoming traffic lane or…

Dynamic scene understanding is the ability of a computer system to interpret and make sense of the visual information present in a video of a real-world scene. In this thesis, we present a series of frameworks for dynamic scene…

Small unmanned aerial vehicle (UAV)-based visual inspections are a more efficient alternative to manual methods for examining civil structural defects, offering safe access to hazardous areas and significant cost savings by reducing labor…

As an alternative sensing paradigm, dynamic vision sensors (DVS) have been recently explored to tackle scenarios where conventional sensors result in high data rate and processing time. This paper presents a hybrid event-frame approach for…