相关论文: NeRO: Neural Road Surface Reconstruction

We propose a methodology for lidar super-resolution with ground vehicles driving on roadways, which relies completely on a driving simulator to enhance, via deep learning, the apparent resolution of a physical lidar. To increase the…

This paper addresses the problem of building augmented metric representations of scenes with semantic information from RGB-D images. We propose a complete framework to create an enhanced map representation of the environment with…

Monocular 3D object localization in driving scenes is a crucial task, but challenging due to its ill-posed nature. Estimating 3D coordinates for each pixel on the object surface holds great potential as it provides dense 2D-3D geometric…

Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…

Recent advances in neural rendering have shown great potential for reconstructing scenes from multiview images. However, accurately representing objects with glossy surfaces remains a challenge for existing methods. In this work, we…

In this paper, we propose Bootstrapped Language-Image Pretraining-driven Fused State Representation in Proximal Policy Optimization (BLIP-FusePPO), a novel multimodal reinforcement learning (RL) framework for autonomous lane-keeping (LK),…

Solving multi-label recognition (MLR) for images in the low-label regime is a challenging task with many real-world applications. Recent work learns an alignment between textual and visual spaces to compensate for insufficient image labels,…

In this paper, we propose a neural motion planner (NMP) for learning to drive autonomously in complex urban scenarios that include traffic-light handling, yielding, and interactions with multiple road-users. Towards this goal, we design a…

A distinctive representation of image patches in form of features is a key component of many computer vision and robotics tasks, such as image matching, image retrieval, and visual localization. State-of-the-art descriptors, from…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

We propose the use of deep neural networks (DNN) for solving the problem of inferring the position and relevant properties of lanes of urban roads with poor or absent horizontal signalization, in order to allow the operation of autonomous…

Optical blur is an inherent property of any lens system and is challenging to model in modern cameras because of their complex optical elements. To tackle this challenge, we introduce a high-dimensional neural representation of…

Large-scale 3D scene reconstruction and novel view synthesis are vital for autonomous vehicles, especially utilizing temporally sparse LiDAR frames. However, conventional explicit representations remain a significant bottleneck towards…

Robust scene representation is essential for autonomous systems to safely operate in challenging low-visibility environments. Radar has a clear advantage over cameras and lidars in these conditions due to its resilience to environmental…

Existing Multimodal Large Language Models (MLLMs) suffer from increased inference costs due to the additional vision tokens introduced by image inputs. In this work, we propose Visual Consistency Learning (ViCO), a novel training algorithm…

Identifying multiple novel classes in an image, known as open-vocabulary multi-label recognition, is a challenging task in computer vision. Recent studies explore the transfer of powerful vision-language models such as CLIP. However, these…

Multi-layer perceptrons (MLPs) are a standard tool for learning and function approximation, but they inherently yield outputs that are globally smooth. As a result, they struggle to represent functions that are continuous yet deliberately…

We present a novel neural surface reconstruction method, called NeuS, for reconstructing objects and scenes with high fidelity from 2D image inputs. Existing neural surface reconstruction approaches, such as DVR and IDR, require foreground…

Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work…

Neural fields, a category of neural networks trained to represent high-frequency signals, have gained significant attention in recent years due to their impressive performance in modeling complex 3D data, such as signed distance (SDFs) or…