相关论文: Towards classification-based representation learni…

The classification and the position estimation of objects become more and more relevant as the field of robotics is expanding in diverse areas of society. In this Bachelor Thesis, we developed a cone detection algorithm for an autonomous…

The automotive mmWave radar plays a key role in advanced driver assistance systems (ADAS) and autonomous driving. Deep learning-based instance segmentation enables real-time object identification from the radar detection points. In the…

Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…

Self-supervised contrastive learning is an effective approach for addressing the challenge of limited labelled data. This study builds upon the previously established two-stage patch-level, multi-label classification method for…

Place recognition is an important component for autonomous vehicles to achieve loop closing or global localization. In this paper, we tackle the problem of place recognition based on sequential 3D LiDAR scans obtained by an onboard LiDAR…

Deep learning models for object detection in autonomous driving have recently achieved impressive performance gains and are already being deployed in vehicles worldwide. However, current models require increasingly large datasets for…

In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system…

This work addresses the task of multilabel image classification. Inspired by the great success from deep convolutional neural networks (CNNs) for single-label visual-semantic embedding, we exploit extending these models for multilabel…

Categorizing driving scenes via visual perception is a key technology for safe driving and the downstream tasks of autonomous vehicles. Traditional methods infer scene category by detecting scene-related objects or using a classifier that…

We address the problem of unsupervised semantic segmentation of outdoor LiDAR point clouds in diverse traffic scenarios. The key idea is to leverage the spatiotemporal nature of a dynamic point cloud sequence and introduce drastically…

Place recognition is one of the most challenging problems in computer vision, and has become a key part in mobile robotics and autonomous driving applications for performing loop closure in visual SLAM systems. Moreover, the difficulty of…

We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite…

We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…

Trained classification models can unintentionally lead to biased representations and predictions, which can reinforce societal preconceptions and stereotypes. Existing debiasing methods for classification models, such as adversarial…

Understanding complex scenarios from in-vehicle cameras is essential for safely operating autonomous driving systems in densely populated areas. Among these, intersection areas are one of the most critical as they concentrate a considerable…

Training image-based object detectors presents formidable challenges, as it entails not only the complexities of object detection but also the added intricacies of precisely localizing objects within potentially diverse and noisy…

Autonomous driving sensors generate an enormous amount of data. In this paper, we explore learned multimodal compression for autonomous driving, specifically targeted at 3D object detection. We focus on camera and LiDAR modalities and…

In this work, we propose a method for large-scale topological localization based on radar scan images using learned descriptors. We present a simple yet efficient deep network architecture to compute a rotationally invariant discriminative…

As the autonomous driving industry is slowly maturing, visual map localization is quickly becoming the standard approach to localize cars as accurately as possible. Owing to the rich data returned by visual sensors such as cameras or…

Visual place recognition is a challenging task in the field of computer vision, and autonomous robotics and vehicles, which aims to identify a location or a place from visual inputs. Contemporary methods in visual place recognition employ…