相关论文: RICCARDO: Radar Hit Prediction and Convolution for…

3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…

3D motion tracking is a critical task in many computer vision applications. Unsupervised markerless 3D motion tracking systems determine the most relevant object in the screen and then track it by continuously estimating its projection…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

In this work, we present a conceptually simple yet effective framework for cross-modality 3D object detection, named voxel field fusion. The proposed approach aims to maintain cross-modality consistency by representing and fusing augmented…

Recent camera-based 3D object detection methods have introduced sequential frames to improve the detection performance hoping that multiple frames would mitigate the large depth estimation error. Despite improved detection performance,…

The joint adaptive detection of multiple point-like targets in scenarios characterized by different clutter types is still an open problem in the radar community. In this paper, we provide a solution to this problem by devising detection…

We propose Shift R-CNN, a hybrid model for monocular 3D object detection, which combines deep learning with the power of geometry. We adapt a Faster R-CNN network for regressing initial 2D and 3D object properties and combine it with 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…

Typical template-based object pose pipelines estimate the pose by retrieving the closest matching template and aligning it with the observed image. However, failure to retrieve the correct template often leads to inaccurate pose…

We present DetectFusion, an RGB-D SLAM system that runs in real-time and can robustly handle semantically known and unknown objects that can move dynamically in the scene. Our system detects, segments and assigns semantic class labels to…

Most previous works of outdoor instance segmentation for images only use color information. We explore a novel direction of sensor fusion to exploit stereo cameras. Geometric information from disparities helps separate overlapping objects…

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…

Mobile robots require accurate and robust depth measurements to understand and interact with the environment. While existing sensing modalities address this problem to some extent, recent research on monocular depth estimation has leveraged…

Object recognition has seen significant progress in the image domain, with focus primarily on 2D perception. We propose to leverage existing large-scale datasets of 3D models to understand the underlying 3D structure of objects seen in an…

This letter presents a novel radar based, single-frame, multi-class detection method for moving road users (pedestrian, cyclist, car), which utilizes low-level radar cube data. The method provides class information both on the radar target-…

Depth Estimation and Object Detection Recognition play an important role in autonomous driving technology under the guidance of deep learning artificial intelligence. We propose a hybrid structure called RealNet: a co-design method…

Estimating robot pose and joint angles is significant in advanced robotics, enabling applications like robot collaboration and online hand-eye calibration.However, the introduction of unknown joint angles makes prediction more complex than…

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…

In this survey we present a complete landscape of joint object detection and pose estimation methods that use monocular vision. Descriptions of traditional approaches that involve descriptors or models and various estimation methods have…

Camera, LiDAR and radar are common perception sensors for autonomous driving tasks. Robust prediction of 3D object detection is optimally based on the fusion of these sensors. To exploit their abilities wisely remains a challenge because…