相关论文: IROAM: Improving Roadside Monocular 3D Object Dete…

Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…

Although the majority of recent autonomous driving systems concentrate on developing perception methods based on ego-vehicle sensors, there is an overlooked alternative approach that involves leveraging intelligent roadside cameras to help…

On-board sensors of autonomous vehicles can be obstructed, occluded, or limited by restricted fields of view, complicating downstream driving decisions. Intelligent roadside infrastructure perception systems, installed at elevated vantage…

Many tasks performed by autonomous vehicles such as road marking detection, object tracking, and path planning are simpler in bird's-eye view. Hence, Inverse Perspective Mapping (IPM) is often applied to remove the perspective effect from a…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

Monocular 3D object detection (M3OD) is a significant yet inherently challenging task in autonomous driving due to absence of explicit depth cues in a single RGB image. In this paper, we strive to boost currently underperforming monocular…

3D object detection and occupancy prediction are critical tasks in autonomous driving, attracting significant attention. Despite the potential of recent vision-based methods, they encounter challenges under adverse conditions. Thus,…

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…

This dissertation is a multifaceted contribution to the advancement of vision-based 3D perception technologies. In the first segment, the thesis introduces structural enhancements to both monocular and stereo 3D object detection algorithms.…

Roadside perception datasets are typically constructed via cooperative labeling between synchronized vehicle and roadside frame pairs. However, real deployment often requires annotation of roadside-only data due to hardware and privacy…

In this paper, we propose a monocular 3D object detection framework in the domain of autonomous driving. Unlike previous image-based methods which focus on RGB feature extracted from 2D images, our method solves this problem in the…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

Accurately detecting 3D objects from monocular images in dynamic roadside scenarios remains a challenging problem due to varying camera perspectives and unpredictable scene conditions. This paper introduces a two-stage training strategy to…

Roadside Collaborative Perception refers to a system where multiple roadside units collaborate to pool their perceptual data, assisting vehicles in enhancing their environmental awareness. Existing roadside perception methods concentrate on…

Concurrent perception datasets for autonomous driving are mainly limited to frontal view with sensors mounted on the vehicle. None of them is designed for the overlooked roadside perception tasks. On the other hand, the data captured from…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

Estimating the motion of the camera together with the 3D structure of the scene from a monocular vision system is a complex task that often relies on the so-called scene rigidity assumption. When observing a dynamic environment, this…

3D object detection based on monocular camera data is a key enabler for autonomous driving. The task however, is ill-posed due to lack of depth information in 2D images. Recent deep learning methods show promising results to recover depth…

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…

Current multi-modal object detection approaches focus on the vehicle domain and are limited in the perception range and the processing capabilities. Roadside sensor units (RSUs) introduce a new domain for perception systems and leverage…