相关论文: REMOTE: Real-time Ego-motion Tracking for Various …

Self-supervised methods have showed promising results on depth estimation task. However, previous methods estimate the target depth map and camera ego-motion simultaneously, underusing multi-frame correlation information and ignoring the…

In this work, we focus on boosting the feature extraction to improve the performance of Structure-from-Motion (SfM) in endoscopy videos. We present SuperPoint-E, a new local feature extraction method that, using our proposed Tracking…

Most of the existing works on pedestrian pose estimation do not consider estimating the pose of an occluded pedestrian, as the annotations of the occluded parts are not available in relevant automotive datasets. For example, CityPersons, a…

In this paper we propose a novel deep neural network that is able to jointly reason about 3D detection, tracking and motion forecasting given data captured by a 3D sensor. By jointly reasoning about these tasks, our holistic approach is…

We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First,…

Accurate human trajectory prediction is one of the most crucial tasks for autonomous driving, ensuring its safety. Yet, existing models often fail to fully leverage the visual cues that humans subconsciously communicate when navigating the…

We present a deep learning-based multitask framework for joint 3D human pose estimation and action recognition from RGB video sequences. Our approach proceeds along two stages. In the first, we run a real-time 2D pose detector to determine…

We propose a novel method that tracks fast moving objects, mainly non-uniform spherical, in full 6 degrees of freedom, estimating simultaneously their 3D motion trajectory, 3D pose and object appearance changes with a time step that is a…

We present a novel multi-attentional convolutional architecture to tackle the problem of real-time RGB-D 6D object pose tracking of single, known objects. Such a problem poses multiple challenges originating both from the objects' nature…

Recovering temporally consistent 3D human body pose, shape and motion from a monocular video is a challenging task due to (self-)occlusions, poor lighting conditions, complex articulated body poses, depth ambiguity, and limited availability…

Depth estimation from images serves as the fundamental step of 3D perception for autonomous driving and is an economical alternative to expensive depth sensors like LiDAR. The temporal photometric constraints enables self-supervised depth…

Determining the relative position and orientation of objects in an environment is a fundamental building block for a wide range of robotics applications. To accomplish this task efficiently in practical settings, a method must be fast, use…

Traditional Visual Odometry (VO) and Visual Inertial Odometry (VIO) methods rely on a 'pose-centric' paradigm, which computes absolute camera poses from the local map thus requires large-scale landmark maintenance and continuous map…

Learning depth and camera ego-motion from raw unlabeled RGB video streams is seeing exciting progress through self-supervision from strong geometric cues. To leverage not only appearance but also scene geometry, we propose a novel…

Multi-frame human pose estimation in complicated situations is challenging. Although state-of-the-art human joints detectors have demonstrated remarkable results for static images, their performances come short when we apply these models to…

Moving object segmentation (MOS) in dynamic scenes is an important, challenging, but under-explored research topic for autonomous driving, especially for sequences obtained from moving ego vehicles. Most segmentation methods leverage motion…

Human pose estimation in videos has long been a compelling yet challenging task within the realm of computer vision. Nevertheless, this task remains difficult because of the complex video scenes, such as video defocus and self-occlusion.…

We present a system for keyframe-based dense camera tracking and depth map estimation that is entirely learned. For tracking, we estimate small pose increments between the current camera image and a synthetic viewpoint. This significantly…

One of the core components of conventional (i.e., non-learned) video codecs consists of predicting a frame from a previously-decoded frame, by leveraging temporal correlations. In this paper, we propose an end-to-end learned system for…

Predicting pedestrian behavior is one of the main challenges for intelligent driving systems. In this paper, we present a new paradigm for evaluating egocentric pedestrian trajectory prediction algorithms. Based on various contextual…