相关论文: Weakly and Self-Supervised Class-Agnostic Motion P…

Motion prediction of vehicles is critical but challenging due to the uncertainties in complex environments and the limited visibility caused by occlusions and limited sensor ranges. In this paper, we study a new task, safety-aware motion…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

Recently, progress in acquisition equipment such as LiDAR sensors has enabled sensing increasingly spacious outdoor 3D environments. Making sense of such 3D acquisitions requires fine-grained scene understanding, such as constructing…

As a challenging task of high-level video understanding, weakly supervised temporal action localization has been attracting increasing attention. With only video annotations, most existing methods seek to handle this task with a…

In this paper, we study the problem of unsupervised object detection from 3D point clouds in self-driving scenes. We present a simple yet effective method that exploits (i) point clustering in near-range areas where the point clouds are…

Adverse weather conditions can severely affect the performance of LiDAR sensors by introducing unwanted noise in the measurements. Therefore, differentiating between noise and valid points is crucial for the reliable use of these sensors.…

With a focus on abnormal events contained within untrimmed videos, there is increasing interest among researchers in video anomaly detection. Among different video anomaly detection scenarios, weakly-supervised video anomaly detection poses…

Videos are more well-organized curated data sources for visual concept learning than images. Unlike the 2-dimensional images which only involve the spatial information, the additional temporal dimension bridges and synchronizes multiple…

Training temporal action detection in videos requires large amounts of labeled data, yet such annotation is expensive to collect. Incorporating unlabeled or weakly-labeled data to train action detection model could help reduce annotation…

While supervised object detection methods achieve impressive accuracy, they generalize poorly to images whose appearance significantly differs from the data they have been trained on. To address this in scenarios where annotating data is…

Scaling up visual category recognition to large numbers of classes remains challenging. A promising research direction is zero-shot learning, which does not require any training data to recognize new classes, but rather relies on some form…

Supervised 3D reconstruction has witnessed a significant progress through the use of deep neural networks. However, this increase in performance requires large scale annotations of 2D/3D data. In this paper, we explore inexpensive 2D…

We introduce an adaptive method with formal quality guarantees for weak supervision in a non-stationary setting. Our goal is to infer the unknown labels of a sequence of data by using weak supervision sources that provide independent noisy…

When interacting with highly dynamic environments, scene flow allows autonomous systems to reason about the non-rigid motion of multiple independent objects. This is of particular interest in the field of autonomous driving, in which many…

Accurate motion forecasting is crucial for safe autonomous driving (AD). This study proposes CoT-Drive, a novel approach that enhances motion forecasting by leveraging large language models (LLMs) and a chain-of-thought (CoT) prompting…

Most existing approaches to autonomous driving fall into one of two categories: modular pipelines, that build an extensive model of the environment, and imitation learning approaches, that map images directly to control outputs. A recently…

We propose a method for off-road drivable area extraction using 3D LiDAR data with the goal of autonomous driving application. A specific deep learning framework is designed to deal with the ambiguous area, which is one of the main…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

Object detection and motion parameters estimation are crucial tasks for self-driving vehicle safe navigation in a complex urban environment. In this work we propose a novel real-time approach of temporal context aggregation for motion…

In this paper, a self-learning approach is proposed towards solving scene-specific pedestrian detection problem without any human' annotation involved. The self-learning approach is deployed as progressive steps of object discovery, object…