相关论文: 3D Extended Object Tracking by Fusing Roadside Spa…
Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…
Non-contact radar-based human sensing is often interpreted using simplified motion assumptions. However, respiration induces non-rigid surface deformation of the human body that impacts electromagnetic wave scattering and can degrade the…
Robust 3D object detection is critical for safe autonomous driving. Camera and radar sensors are synergistic as they capture complementary information and work well under different environmental conditions. Fusing camera and radar data is…
Extended target/object tracking (ETT) problem involves tracking objects which potentially generate multiple measurements at a single sensor scan. State-of-the-art ETT algorithms can efficiently exploit the available information in these…
Environmental perception with the multi-modal fusion of radar and camera is crucial in autonomous driving to increase accuracy, completeness, and robustness. This paper focuses on utilizing millimeter-wave (MMW) radar and camera sensor…
We present a new combined approach for monocular model-based 3D tracking. A preliminary object pose is estimated by using a keypoint-based technique. The pose is then refined by optimizing the contour energy function. The energy determines…
In this paper we present a novel radar-camera sensor fusion framework for accurate object detection and distance estimation in autonomous driving scenarios. The proposed architecture uses a middle-fusion approach to fuse the radar point…
Detecting 3D objects in point clouds plays a crucial role in autonomous driving systems. Recently, advanced multi-modal methods incorporating camera information have achieved notable performance. For a safe and effective autonomous driving…
Robotic three-dimensional (3D) ultrasound (US) imaging has been employed to overcome the drawbacks of traditional US examinations, such as high inter-operator variability and lack of repeatability. However, object movement remains a…
Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…
Reconstructing 3D geometry and appearance from a sparse set of fixed cameras is a foundational task with broad applications, yet it remains fundamentally constrained by the limited viewpoints. We show that this bound can be broken by…
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…
4D radar-camera sensing configuration has gained increasing importance in autonomous driving. However, existing 3D object detection methods that fuse 4D Radar and camera data confront several challenges. First, their absolute depth…
In this study, we propose a novel extended target tracking algorithm which is capable of representing the extent of dynamic objects as an ellipsoid with a time-varying orientation angle. A diagonal positive semi-definite matrix is defined…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
This work aims to design a distributed extended object tracking (EOT) system over a realistic network, where both the extent and kinematics are required to retain consensus within the entire network. To this end, we resort to the…
The growing interest in embodied intelligence has brought ego-centric perspectives to contemporary research. One significant challenge within this realm is the accurate localization and tracking of objects in ego-centric videos, primarily…
Various autonomous or assisted driving strategies have been facilitated through the accurate and reliable perception of the environment around a vehicle. Among the commonly used sensors, radar has usually been considered as a robust and…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
Tracking and modeling unknown rigid objects in the environment play a crucial role in autonomous unmanned systems and virtual-real interactive applications. However, many existing Simultaneous Localization, Mapping and Moving Object…