相关论文: Camera Agnostic Two-Head Network for Ego-Lane Infe…

Autonomous driving is becoming one of the leading industrial research areas. Therefore many automobile companies are coming up with semi to fully autonomous driving solutions. Among these solutions, lane detection is one of the vital…

Learning to infer labels in an open world, i.e., in an environment where the target "labels" are unknown, is an important characteristic for achieving autonomy. Foundation models pre-trained on enormous amounts of data have shown remarkable…

We present a new method to localize a camera within a previously unseen environment perceived from an egocentric point of view. Although this is, in general, an ill-posed problem, humans can effortlessly and efficiently determine their…

In this paper, we introduce a novel approach for ground plane normal estimation of wheeled vehicles. In practice, the ground plane is dynamically changed due to braking and unstable road surface. As a result, the vehicle pose, especially…

A novel algorithm to detect road lanes in the eigenlane space is proposed in this paper. First, we introduce the notion of eigenlanes, which are data-driven descriptors for structurally diverse lanes, including curved, as well as straight,…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

Attention mechanisms, especially self-attention, have played an increasingly important role in deep feature representation for visual tasks. Self-attention updates the feature at each position by computing a weighted sum of features using…

The estimation of optical flow and 6-DoF ego-motion, two fundamental tasks in 3D vision, has typically been addressed independently. For neuromorphic vision (e.g., event cameras), however, the lack of robust data association makes solving…

The possibility of sharing one's point of view makes use of wearable cameras compelling. These videos are often long, boring and coupled with extreme shake, as the camera is worn on a moving person. Fast forwarding (i.e. frame sampling) is…

We propose an easy-to-use non-overlapping camera calibration method. First, successive images are fed to a PoseNet-based network to obtain ego-motion of cameras between frames. Next, the pose between cameras are estimated. Instead of using…

Accurate and reliable ego-localization is critical for autonomous driving. In this paper, we present EgoVM, an end-to-end localization network that achieves comparable localization accuracy to prior state-of-the-art methods, but uses…

This paper proposes a framework to recognize driving intentions and to predict driving behaviors of lane changing on the highway by using externally sensable traffic data from the host-vehicle. The framework consists of a driving…

Navigation through uncontrolled intersections is one of the key challenges for autonomous vehicles. Identifying the subtle differences in hidden traits of other drivers can bring significant benefits when navigating in such environments. We…

End-to-end (E2E) autonomous driving models that take only camera images as input and directly predict a future trajectory are appealing for their computational efficiency and potential for improved generalization via unified optimization;…

3D LiDARs and 2D cameras are increasingly being used alongside each other in sensor rigs for perception tasks. Before these sensors can be used to gather meaningful data, however, their extrinsics (and intrinsics) need to be accurately…

End-to-end learning from sensory data has shown promising results in autonomous driving. While employing many sensors enhances world perception and should lead to more robust and reliable behavior of autonomous vehicles, it is challenging…

Lane detection plays an important role in autonomous driving perception systems. As deep learning algorithms gain popularity, monocular lane detection methods based on them have demonstrated superior performance and emerged as a key…

Effective use of camera-based vision systems is essential for robust performance in autonomous off-road driving, particularly in the high-speed regime. Despite success in structured, on-road settings, current end-to-end approaches for scene…

End-to-end Network has become increasingly important in multi-tasking. One prominent example of this is the growing significance of a driving perception system in autonomous driving. This paper systematically studies an end-to-end…

One of the greatest challenges towards fully autonomous cars is the understanding of complex and dynamic scenes. Such understanding is needed for planning of maneuvers, especially those that are particularly frequent such as lane changes.…