相关论文: RePLAy: Remove Projective LiDAR Depthmap Artifacts…

3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…

Detecting objects such as cars and pedestrians in 3D plays an indispensable role in autonomous driving. Existing approaches largely rely on expensive LiDAR sensors for accurate depth information. While recently pseudo-LiDAR has been…

Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the performance of the sensor. Therefore, a…

Accurate dense depth estimation is crucial for autonomous vehicles to analyze their environment. This paper presents a non-deep learning-based approach to densify a sparse LiDAR-based depth map using a guidance RGB image. To achieve this…

Image alignment and image restoration are classical computer vision tasks. However, there is still a lack of datasets that provide enough data to train and evaluate end-to-end deep learning models. Obtaining ground-truth data for image…

There have been attempts to detect 3D objects by fusion of stereo camera images and LiDAR sensor data or using LiDAR for pre-training and only monocular images for testing, but there have been less attempts to use only monocular image…

Most of stereo vision works are focusing on computing the dense pixel disparity of a given pair of left and right images. A camera pair usually required lens undistortion and stereo calibration to provide an undistorted epipolar line…

The proposal of Pseudo-Lidar representation has significantly narrowed the gap between visual-based and active Lidar-based 3D object detection. However, current researches exclusively focus on pushing the accuracy improvement of…

Image-based 3D object detection is an inevitable part of autonomous driving because cheap onboard cameras are already available in most modern cars. Because of the accurate depth information, currently, most state-of-the-art 3D object…

The ability for a moving agent to localize itself in environment is the basic demand for emerging applications, such as autonomous driving, etc. Many existing methods based on multiple sensors still suffer from drift. We propose a scheme…

Pseudo-LiDAR-based methods for monocular 3D object detection have received considerable attention in the community due to the performance gains exhibited on the KITTI3D benchmark, in particular on the commonly reported validation split.…

In this paper, we address a novel image restoration problem relevant to machine learning dataset curation: the detection and removal of noisy mirrored padding artifacts. While data augmentation techniques like padding are necessary for…

Scene flow is the dense 3D reconstruction of motion and geometry of a scene. Most state-of-the-art methods use a pair of stereo images as input for full scene reconstruction. These methods depend a lot on the quality of the RGB images and…

As object detectors rapidly improve, attention has expanded past image-only networks to include a range of 3D and multimodal frameworks, especially ones that incorporate LiDAR. However, due to cost, logistics, and even some safety…

The goal of this paper is to perform 3D object detection in the context of autonomous driving. Our method first aims at generating a set of high-quality 3D object proposals by exploiting stereo imagery. We formulate the problem as…

High resolution depth-maps, obtained by upsampling sparse range data from a 3D-LIDAR, find applications in many fields ranging from sensory perception to semantic segmentation and object detection. Upsampling is often based on combining…

Accurate and reliable 3D object detection is vital to safe autonomous driving. Despite recent developments, the performance gap between stereo-based methods and LiDAR-based methods is still considerable. Accurate depth estimation is crucial…

Stereo vision generally involves the computation of pixel correspondences and estimation of disparities between rectified image pairs. In many applications, including simultaneous localization and mapping (SLAM) and 3D object detection, the…

3D detection technology is widely used in the field of autonomous driving, with its application scenarios gradually expanding from enclosed highways to open conventional roads. For rare anomaly categories that appear on the road, 3D…

Monocular 3D object detection is an essential component in autonomous driving while challenging to solve, especially for those occluded samples which are only partially visible. Most detectors consider each 3D object as an independent…