相关论文: Temporal Overlapping Prediction: A Self-supervised…

One-stage object detection is commonly implemented by optimizing two sub-tasks: object classification and localization, using heads with two parallel branches, which might lead to a certain level of spatial misalignment in predictions…

LiDAR representation learning has emerged as a promising approach to reducing reliance on costly and labor-intensive human annotations. While existing methods primarily focus on spatial alignment between LiDAR and camera sensors, they often…

3D perception in LiDAR point clouds is crucial for a self-driving vehicle to properly act in 3D environment. However, manually labeling point clouds is hard and costly. There has been a growing interest in self-supervised pre-training of 3D…

Localization is a crucial capability for mobile robots and autonomous cars. In this paper, we address learning an observation model for Monte-Carlo localization using 3D LiDAR data. We propose a novel, neural network-based observation model…

LiDAR-based 3D object detection presents significant challenges due to the inherent sparsity of LiDAR points. A common solution involves long-term temporal LiDAR data to densify the inputs. However, efficiently leveraging spatial-temporal…

Temporal action segmentation is typically achieved by discovering the dramatic variances in global visual descriptors. In this paper, we explore the merits of local features by proposing the unsupervised framework of Object-centric Temporal…

Multi-object tracking (MOT) methods often rely on Intersection-over-Union (IoU) for association. However, this becomes unreliable when objects are similar or occluded. Also, computing IoU for segmentation masks is computationally expensive.…

Unsupervised object-centric learning methods allow the partitioning of scenes into entities without additional localization information and are excellent candidates for reducing the annotation burden of multiple-object tracking (MOT)…

Temporal misalignment (time offset) between sensors is common in low cost visual-inertial odometry (VIO) systems. Such temporal misalignment introduces inconsistent constraints for state estimation, leading to a significant positioning…

Self-supervised feature learning enables perception systems to benefit from the vast raw data recorded by vehicle fleets worldwide. While video-level self-supervised learning approaches have shown strong generalizability on classification…

We propose a new self-supervised method for pre-training the backbone of deep perception models operating on point clouds. The core idea is to train the model on a pretext task which is the reconstruction of the surface on which the 3D…

3D object detection plays an important role in autonomous driving and other robotics applications. However, these detectors usually require training on large amounts of annotated data that is expensive and time-consuming to collect.…

Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…

Identifying moving objects is a crucial capability for autonomous navigation, consistent map generation, and future trajectory prediction of objects. In this paper, we propose a novel network that addresses the challenge of segmenting…

The perception of motion behavior in a dynamic environment holds significant importance for autonomous driving systems, wherein class-agnostic motion prediction methods directly predict the motion of the entire point cloud. While most…

Generating overtaking trajectories in high-speed scenarios is typically addressed through hierarchical planning, which often suffers from local optima due to single initial solutions and low computational efficiency during numerical…

Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…

Collaborative perception (CP) is a critical technology in applications like autonomous driving and smart cities. It involves the sharing and fusion of information among sensors to overcome the limitations of individual perception, such as…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…

Temporal Action Localization (TAL) has garnered significant attention in information retrieval. Existing supervised or weakly supervised methods heavily rely on labeled temporal boundaries and action categories, which are labor-intensive…