相关论文: NeRO: Neural Road Surface Reconstruction

Current approaches of Reinforcement Learning (RL) applied in urban Autonomous Driving (AD) focus on decoupling the perception training from the driving policy training. The main reason is to avoid training a convolution encoder alongside a…

We propose a novel visual re-localization method based on direct matching between the implicit 3D descriptors and the 2D image with transformer. A conditional neural radiance field(NeRF) is chosen as the 3D scene representation in our…

Neural implicit surface reconstruction has become a new trend in reconstructing a detailed 3D shape from images. In previous methods, however, the 3D scene is only encoded by the MLPs which do not have an explicit 3D structure. To better…

Image denoising can be described as the problem of mapping from a noisy image to a noise-free image. The best currently available denoising methods approximate this mapping with cleverly engineered algorithms. In this work we attempt to…

We propose a neural inverse rendering approach that jointly reconstructs geometry, spatially varying reflectance, and lighting conditions from multi-view images captured under varying directional lighting. Unlike prior multi-view…

Driving in a dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision-making policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

Human visual scene understanding is so remarkable that we are able to recognize a revisited place when entering it from the opposite direction it was first visited, even in the presence of extreme variations in appearance. This capability…

Immersive novel view generation is an important technology in the field of graphics and has recently also received attention for operator-based human-robot interaction. However, the involved training is time-consuming, and thus the current…

This paper addresses the high demand in advanced intelligent robot navigation for a more holistic understanding of spatial environments, by introducing a novel system that harnesses the capabilities of Large Language Models (LLMs) to…

This work proposes a perception system for autonomous vehicles and advanced driver assistance specialized on unpaved roads and off-road environments. In this research, the authors have investigated the behavior of Deep Learning algorithms…

Multimodal large language models (MLLMs) have shown satisfactory effects in many autonomous driving tasks. In this paper, MLLMs are utilized to solve joint semantic scene understanding and risk localization tasks, while only relying on…

High definition (HD) maps have demonstrated their essential roles in enabling full autonomy, especially in complex urban scenarios. As a crucial layer of the HD map, lane-level maps are particularly useful: they contain geometrical and…

This paper describes a methodology to produce a 7-classes land cover map of urban areas from very high resolution images and limited noisy labeled data. The objective is to make a segmentation map of a large area (a french department) with…

Real-world License Plate Recognition (LPR) faces significant challenges from severe degradations such as motion blur, low resolution, and complex illumination. The prevailing "restoration-then-recognition" two-stage paradigm suffers from a…

Semantic place categorization, which is one of the essential tasks for autonomous robots and vehicles, allows them to have capabilities of self-decision and navigation in unfamiliar environments. In particular, outdoor places are more…

Autonomous driving has traditionally relied heavily on costly and labor-intensive High Definition (HD) maps, hindering scalability. In contrast, Standard Definition (SD) maps are more affordable and have worldwide coverage, offering a…

Neural radiance fields (NeRFs) enable novel view synthesis with unprecedented visual quality. However, to render photorealistic images, NeRFs require hundreds of deep multilayer perceptron (MLP) evaluations - for each pixel. This is…

Autonomous off-road navigation requires an accurate semantic understanding of the environment, often converted into a bird's-eye view (BEV) representation for various downstream tasks. While learning-based methods have shown success in…

We propose a pipeline for combined multi-class object geolocation and height estimation from street level RGB imagery, which is considered as a single available input data modality. Our solution is formulated via Markov Random Field…

Given a single RGB image of a complex outdoor road scene in the perspective view, we address the novel problem of estimating an occlusion-reasoned semantic scene layout in the top-view. This challenging problem not only requires an accurate…