相关论文: TileTracker: Tracking Based Vector HD Mapping usin…

The exponentially increasing use of moving platforms for video capture introduces the urgent need to develop the general background subtraction algorithms with the capability to deal with the moving background. In this paper, we propose a…

We introduce the first method for generating Vector Displacement Maps (VDMs): parameterized, detailed geometric stamps commonly used in 3D modeling. Given a single input image, our method first generates multi-view normal maps and then…

We consider the following problem : we have a high-resolution street network of a given city, and low-resolution measurements of traffic within this city. We want to associate to each measurement the set of streets corresponding to the…

Vector embeddings have been successfully applied in several domains to obtain effective representations of non-numeric data which can then be used in various downstream tasks. We present a novel application of vector embeddings in…

The construction of online vectorized High-Definition (HD) maps is critical for downstream prediction and planning. Recent efforts have built strong baselines for this task, however, shapes and relations of instances in urban road systems…

While most recent autonomous driving system focuses on developing perception methods on ego-vehicle sensors, people tend to overlook an alternative approach to leverage intelligent roadside cameras to extend the perception ability beyond…

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 present WidthFormer, a novel transformer-based module to compute Bird's-Eye-View (BEV) representations from multi-view cameras for real-time autonomous-driving applications. WidthFormer is computationally efficient, robust and does not…

Autonomous vehicles rely on precise high definition (HD) 3d maps for navigation. This paper presents the mapping component of an end-to-end system for crowdsourcing precise 3d maps with semantically meaningful landmarks such as traffic…

The paper presents a new model for single channel images low-level interpretation. The image is decomposed into a graph which captures a complete set of structural features. The description allows to accurately identify every edge location…

High-definition (HD) maps are crucial to autonomous driving, providing structured representations of road elements to support navigation and planning. However, existing query-based methods often employ random query initialization and depend…

Image segmentation has long been a basic problem in computer vision. Depth-wise Layering is a kind of segmentation that slices an image in a depth-wise sequence unlike the conventional image segmentation problems dealing with surface-wise…

In many spatial trajectory-based applications, it is necessary to map raw trajectory data points onto road networks in digital maps, which is commonly referred to as a map-matching process. While most previous map-matching methods have…

High-definition (HD) map is a fundamental component of autonomous driving systems, as it can provide precise environmental information about driving scenes. Recent work on vectorized map generation could produce merely 65% local map…

Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…

This work proposes a novel hybrid approach for vision-only navigation of mobile robots, which combines advances of both deep learning approaches and classical model-based planning algorithms. Today, purely data-driven end-to-end models are…

Multi-camera tracking plays a pivotal role in various real-world applications. While end-to-end methods have gained significant interest in single-camera tracking, multi-camera tracking remains predominantly reliant on heuristic techniques.…

Topological maps are favorable for their small storage compared to geometric map. However, they are limited in relocalization and path planning capabilities. To solve this problem, a feature-based hierarchical topological map (FHT-Map) is…

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…

With the rapid development of mobile Internet and cloud computing technology, large-scale multimedia data, e.g., texts, images, audio and videos have been generated, collected, stored and shared. In this paper, we propose a novel query…