相关论文: Transfer Learning from Simulated to Real Scenes fo…

We propose a novel camera-based DNN method for 3D lane detection with uncertainty estimation. Our method is based on a semi-local, BEV, tile representation that breaks down lanes into simple lane segments. It combines learning a parametric…

The highest accuracy object detectors to date are based on a two-stage approach popularized by R-CNN, where a classifier is applied to a sparse set of candidate object locations. In contrast, one-stage detectors that are applied over a…

Monocular depth estimation, enabled by self-supervised learning, is a key technique for 3D perception in computer vision. However, it faces significant challenges in real-world scenarios, which encompass adverse weather variations, motion…

Multi-modal 3D object understanding has gained significant attention, yet current approaches often assume complete data availability and rigid alignment across all modalities. We present CrossOver, a novel framework for cross-modal 3D scene…

Vehicle velocity and inter-vehicle distance estimation are essential for ADAS (Advanced driver-assistance systems) and autonomous vehicles. To save the cost of expensive ranging sensors, recent studies focus on using a low-cost monocular…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

Vision-and-language navigation (VLN) enables the agent to navigate to a remote location in 3D environments following the natural language instruction. In this field, the agent is usually trained and evaluated in the navigation simulators,…

While separately leveraging monocular 3D object detection and 2D multi-object tracking can be straightforwardly applied to sequence images in a frame-by-frame fashion, stand-alone tracker cuts off the transmission of the uncertainty from…

We present a novel framework for dynamic radiance field prediction given monocular video streams. Unlike previous methods that primarily focus on predicting future frames, our method goes a step further by generating explicit 3D…

Environment perception, including object detection and distance estimation, is one of the most crucial tasks for autonomous driving. Many attentions have been paid on the object detection task, but distance estimation only arouse few…

We propose a complete pipeline that allows object detection and simultaneously estimate the pose of these multiple object instances using just a single image. A novel "keypoint regression" scheme with a cross-ratio term is introduced that…

In automotive sensor fusion systems, smart sensors and Vehicle-to-Everything (V2X) modules are commonly utilized. Sensor data from these systems are typically available only as processed object lists rather than raw sensor data from…

The perception of moving objects is crucial for autonomous robots performing collision avoidance in dynamic environments. LiDARs and cameras tremendously enhance scene interpretation but do not provide direct motion information and face…

This paper tackles the 3D object detection problem, which is of vital importance for applications such as autonomous driving. Our framework uses a Machine Learning (ML) pipeline on a combination of monocular camera and LiDAR data to detect…

One object class may show large variations due to diverse illuminations, backgrounds and camera viewpoints. Traditional object detection methods often perform worse under unconstrained video environments. To address this problem, many…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Reliable perception during fast motion maneuvers or in high dynamic range environments is crucial for robotic systems. Since event cameras are robust to these challenging conditions, they have great potential to increase the reliability of…

LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…

The bird's-eye-view (BEV) representation allows robust learning of multiple tasks for autonomous driving including road layout estimation and 3D object detection. However, contemporary methods for unified road layout estimation and 3D…

Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real…