相关论文: DECADE: Towards Designing Efficient-yet-Accurate D…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

3D object detection is one of the most important tasks in 3D vision perceptual system of autonomous vehicles. In this paper, we propose a novel two stage 3D object detection method aimed at get the optimal solution of object location in 3D…

Obstacle detection is crucial to the operation of autonomous driving systems, which rely on multiple sensors, such as cameras and LiDARs, combined with code logic and deep learning models to detect obstacles for time-sensitive decisions.…

Object 6D pose estimation is a fundamental task in many applications. Conventional methods solve the task by detecting and matching the keypoints, then estimating the pose. Recent efforts bringing deep learning into the problem mainly…

The advancement of autonomous drones, essential for sectors such as remote sensing and emergency services, is hindered by the absence of training datasets that fully capture the environmental challenges present in real-world scenarios,…

Recent breakthroughs in Deep Neural Networks (DNNs) have fueled a tremendously growing demand for bringing DNN-powered intelligence into mobile platforms. While the potential of deploying DNNs on resource-constrained platforms has been…

Automatic Vehicle Detection (AVD) in diverse driving environments presents unique challenges due to varying lighting conditions, road types, and vehicle types. Traditional methods, such as YOLO and Faster R-CNN, often struggle to cope with…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

A reliable and accurate 3D tracking framework is essential for predicting future locations of surrounding objects and planning the observer's actions in numerous applications such as autonomous driving. We propose a framework that can…

Most autonomous vehicles (AVs) rely on LiDAR and RGB camera sensors for perception. Using these point cloud and image data, perception models based on deep neural nets (DNNs) have achieved state-of-the-art performance in 3D detection. The…

This paper presents a set of novel scan-matching techniques for vehicle pose estimation using automotive radar measurements. The proposed approach modifies the Normal Distributions Transform (NDT) -- a state-of-the-art scan-matching SLAM…

Recent advancements in LiDAR-based 3D object detection have significantly accelerated progress toward the realization of fully autonomous driving in real-world environments. Despite achieving high detection performance, most of the…

Object detection in 3D with stereo cameras is an important problem in computer vision, and is particularly crucial in low-cost autonomous mobile robots without LiDARs. Nowadays, most of the best-performing frameworks for stereo 3D object…

In this paper we present a novel deep learning method for 3D object detection and 6D pose estimation from RGB images. Our method, named DPOD (Dense Pose Object Detector), estimates dense multi-class 2D-3D correspondence maps between an…

Accurate positioning is known to be a fundamental requirement for the deployment of Connected Automated Vehicles (CAVs). To meet this need, a new emerging trend is represented by cooperative methods where vehicles fuse information coming…

Up-to-date High-Definition (HD) maps are essential for self-driving cars. To achieve constantly updated HD maps, we present a deep neural network (DNN), Diff-Net, to detect changes in them. Compared to traditional methods based on object…

Consumer LiDARs in mobile devices and robots typically output a single depth value per pixel. Yet internally, they record full time-resolved histograms containing direct and multi-bounce light returns; these multi-bounce returns encode rich…

We present a method for 3D object detection and pose estimation from a single image. In contrast to current techniques that only regress the 3D orientation of an object, our method first regresses relatively stable 3D object properties…

Estimating accurate 3D locations of objects from monocular images is a challenging problem because of lacking depth. Previous work shows that utilizing the object's keypoint projection constraints to estimate multiple depth candidates…

Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…