相关论文: Contour Errors: An Ego-Centric Metric for Reliable…

This paper presents Ego-Centric Intersection-over-Union (EC-IoU), addressing the limitation of the standard IoU measure in characterizing safety-related performance for object detectors in navigating contexts. Concretely, we propose a…

3D object detection is a key module for safety-critical robotics applications such as autonomous driving. For these applications, we care most about how the detections affect the ego-agent's behavior and safety (the egocentric perspective).…

Perception plays a central role in connected and autonomous vehicles (CAVs), underpinning not only conventional modular driving stacks, but also cooperative perception systems and recent end-to-end driving models. While deep learning has…

The performance of domain adaptation technologies has not yet reached an ideal level in the current 3D object detection field for autonomous driving, which is mainly due to significant differences in the size of vehicles, as well as the…

Variants of accuracy and precision are the gold-standard by which the computer vision community measures progress of perception algorithms. One reason for the ubiquity of these metrics is that they are largely task-agnostic; we in general…

In this work, we consider the safety-oriented performance of 3D object detectors in autonomous driving contexts. Specifically, despite impressive results shown by the mass literature, developers often find it hard to ensure the safe…

New 3+1D high-resolution radar sensors are gaining importance for 3D object detection in the automotive domain due to their relative affordability and improved detection compared to classic low-resolution radar sensors. One limitation of…

3D cameras have emerged as a critical source of information for applications in robotics and autonomous driving. These cameras provide robots with the ability to capture and utilize point clouds, enabling them to navigate their surroundings…

Egocentric videos present unique challenges for 3D scene understanding due to rapid camera motion, frequent object occlusions, and limited object visibility. This paper introduces a novel approach to instance segmentation and tracking in…

Considerable study has already been conducted regarding autonomous driving in modern era. An autonomous driving system must be extremely good at detecting objects surrounding the car to ensure safety. In this paper, classification, and…

Criticality metrics such as time-to-collision (TTC) quantify collision urgency but conflate the consequences of false-positive (FP) and false-negative (FN) perception errors. We propose two novel effort-based metrics: False Speed Reduction…

Using an ego-centric camera to do localization and tracking is highly needed for urban navigation and indoor assistive system when GPS is not available or not accurate enough. The traditional hand-designed feature tracking and estimation…

3D Multi-object tracking (MOT) ensures consistency during continuous dynamic detection, conducive to subsequent motion planning and navigation tasks in autonomous driving. However, camera-based methods suffer in the case of occlusions and…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Multi-object tracking is a cornerstone capability of any robotic system. The quality of tracking is largely dependent on the quality of the detector used. In many applications, such as autonomous vehicles, it is preferable to over-detect…

Object tracking is an important functionality of edge video analytic systems and services. Multi-object tracking (MOT) detects the moving objects and tracks their locations frame by frame as real scenes are being captured into a video.…

Extensive evaluation of perception systems is crucial for ensuring the safety of intelligent vehicles in complex driving scenarios. Conventional performance metrics such as precision, recall and the F1-score assess the overall detection…

Detecting 3D objects in point clouds plays a crucial role in autonomous driving systems. Recently, advanced multi-modal methods incorporating camera information have achieved notable performance. For a safe and effective autonomous driving…

We present a new combined approach for monocular model-based 3D tracking. A preliminary object pose is estimated by using a keypoint-based technique. The pose is then refined by optimizing the contour energy function. The energy determines…

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)…