相关论文: ROD: RGB-Only Fast and Efficient Off-road Freespac…

Aerial object detection plays a crucial role in numerous applications. However, most existing methods focus on detecting predefined object categories, limiting their applicability in real-world open scenarios. In this paper, we extend…

Object detection is a core component of perception systems, providing the ego vehicle with information about its surroundings to ensure safe route planning. While cameras and Lidar have significantly advanced perception systems, their…

Multi-sensor fusion using LiDAR and RGB cameras significantly enhances 3D object detection task. However, conventional LiDAR sensors perform dense, stateless scans, ignoring the strong temporal continuity in real-world scenes. This leads to…

Vision-based autonomous driving requires reliable and efficient object detection. This work proposes a DiffusionDet-based framework that exploits data fusion from the monocular camera and depth sensor to provide the RGB and depth (RGB-D)…

In this work, a deep learning approach has been developed to carry out road detection using only LIDAR data. Starting from an unstructured point cloud, top-view images encoding several basic statistics such as mean elevation and density are…

Understanding road scenes for visual perception remains crucial for intelligent self-driving cars. In particular, it is desirable to detect unexpected small road hazards reliably in real-time, especially under varying adverse conditions…

In this paper we present a dense ground truth dataset of nonrigidly deforming real-world scenes. Our dataset contains both long and short video sequences, and enables the quantitatively evaluation for RGB based tracking and registration…

In autonomous driving, the integration of roadside perception systems is essential for overcoming occlusion challenges and enhancing the safety of Vulnerable Road Users(VRUs). While LiDAR and visual (RGB) sensors are commonly used, thermal…

Detecting traversable road areas ahead a moving vehicle is a key process for modern autonomous driving systems. A common approach to road detection consists of exploiting color features to classify pixels as road or background. These…

Although the recent image-based 3D object detection methods using Pseudo-LiDAR representation have shown great capabilities, a notable gap in efficiency and accuracy still exist compared with LiDAR-based methods. Besides, over-reliance on…

This report introduces a solution to The task of RGB-TIR object detection from the perspective of unmanned aerial vehicles. Unlike traditional object detection methods, RGB-TIR object detection aims to utilize both RGB and TIR images for…

Existing RGB-D salient object detection (SOD) approaches concentrate on the cross-modal fusion between the RGB stream and the depth stream. They do not deeply explore the effect of the depth map itself. In this work, we design a single…

We propose a real-time RGB-based pipeline for object detection and 6D pose estimation. Our novel 3D orientation estimation is based on a variant of the Denoising Autoencoder that is trained on simulated views of a 3D model using Domain…

Pre-trained diffusion models have shown great potential in real-world image super-resolution (Real-ISR) tasks by enabling high-resolution reconstructions. While one-step diffusion (OSD) methods significantly improve efficiency compared to…

Road networks are crucial for mapping, autonomous driving, and disaster response. While manual annotation is costly, deep learning offers efficient extraction. Current methods include postprocessing (prone to errors), global parallel (fast…

Adverse weather conditions, including snow, rain, and fog, pose a major challenge for both human and computer vision. Handling these environmental conditions is essential for safe decision making, especially in autonomous vehicles,…

Autonomous vehicle perception systems have traditionally relied on costly LiDAR sensors to generate precise environmental representations. In this paper, we propose a camera-only perception framework that produces Bird's Eye View (BEV) maps…

Indoor service robots need perception that is robust, more privacy-friendly than RGB video, and feasible on embedded hardware. We present a camera-free 2D LiDAR object detection pipeline that encodes short-term temporal context by stacking…

We present a novel method for detecting 3D model instances and estimating their 6D poses from RGB data in a single shot. To this end, we extend the popular SSD paradigm to cover the full 6D pose space and train on synthetic model data only.…

Radar has stronger adaptability in adverse scenarios for autonomous driving environmental perception compared to widely adopted cameras and LiDARs. Compared with commonly used 3D radars, the latest 4D radars have precise vertical resolution…