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Pseudo-LiDAR 3D detectors have made remarkable progress in monocular 3D detection by enhancing the capability of perceiving depth with depth estimation networks, and using LiDAR-based 3D detection architectures. The advanced stereo 3D…

Detecting 3D objects from a single RGB image is intrinsically ambiguous, thus requiring appropriate prior knowledge and intermediate representations as constraints to reduce the uncertainties and improve the consistencies between the 2D…

3D object proposals, quickly detected regions in a 3D scene that likely contain an object of interest, are an effective approach to improve the computational efficiency and accuracy of the object detection framework. In this work, we…

While separately leveraging monocular 3D object detection and 2D multi-object tracking can be straightforwardly applied to sequence images in a frame-by-frame fashion, stand-alone tracker cuts off the transmission of the uncertainty from…

For realizing safe autonomous driving, the end-to-end delays of real-time object detection systems should be thoroughly analyzed and minimized. However, despite recent development of neural networks with minimized inference delays,…

Drones operating in complex environments face a significant threat from thin obstacles, such as steel wires and kite strings at the submillimeter level, which are notoriously difficult for conventional sensors like RGB cameras, LiDAR, and…

Reliable perception of the environment plays a crucial role in enabling efficient self-driving vehicles. Therefore, the perception system necessitates the acquisition of comprehensive 3D data regarding the surrounding objects within a…

Detecting small obstacles on the road ahead is a critical part of the driving task which has to be mastered by fully autonomous cars. In this paper, we present a method based on stereo vision to reliably detect such obstacles from a moving…

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…

While most recent autonomous driving system focuses on developing perception methods on ego-vehicle sensors, people tend to overlook an alternative approach to leverage intelligent roadside cameras to extend the perception ability beyond…

The one-shot multi-object tracking, which integrates object detection and ID embedding extraction into a unified network, has achieved groundbreaking results in recent years. However, current one-shot trackers solely rely on single-frame…

Traffic volume data collection is a crucial aspect of transportation engineering and urban planning, as it provides vital insights into traffic patterns, congestion, and infrastructure efficiency. Traditional manual methods of traffic data…

Environmental perception obtained via object detectors have no predictable safety layer encoded into their model schema, which creates the question of trustworthiness about the system's prediction. As can be seen from recent adversarial…

Recent years have seen interest in device tracking and localization using acoustic signals. State-of-the-art acoustic motion tracking systems however do not achieve millimeter accuracy and require large separation between microphones and…

Unsupervised 3D object detection aims to identify objects of interest from unlabeled raw data, such as LiDAR points. Recent approaches usually adopt pseudo 3D bounding boxes (3D bboxes) from clustering algorithm to initialize the model…

Driving safety has drawn much public attention in recent years due to the fast-growing number of cars. Smoking is one of the threats to driving safety but is often ignored by drivers. Existing works on smoking detection either work in…

Unlike RGB cameras that use visible light bands (384$\sim$769 THz) and Lidars that use infrared bands (361$\sim$331 THz), Radars use relatively longer wavelength radio bands (77$\sim$81 GHz), resulting in robust measurements in adverse…

Three-dimensional object detection from a single view is a challenging task which, if performed with good accuracy, is an important enabler of low-cost mobile robot perception. Previous approaches to this problem suffer either from an…

In Autonomous Driving (AD), real-time perception is a critical component responsible for detecting surrounding objects to ensure safe driving. While researchers have extensively explored the integrity of AD perception due to its safety and…

Detection and tracking of vehicles captured by traffic surveillance cameras is a key component of intelligent transportation systems. We present an improved version of our algorithm for detection of 3D bounding boxes of vehicles, their…