相关论文: Observability-Enhanced Target Motion Estimation vi…

Vision-based estimation of the motion of a moving target is usually formulated as a bearing-only estimation problem where the visual measurement is modeled as a bearing vector. Although the bearing-only approach has been studied for…

Vision-based target motion estimation is a fundamental problem in many robotic tasks. The existing methods have the limitation of low observability and, hence, face challenges in tracking highly maneuverable targets. Motivated by the aerial…

The estimation of the orientation of an observed vehicle relative to an Autonomous Vehicle (AV) from monocular camera data is an important building block in estimating its 6 DoF pose. Current Deep Learning based solutions for placing a 3D…

An image-based control strategy along with estimation of target motion is developed to track dynamic targets without motion constraints. To the best of our knowledge, this is the first work that utilizes a bounding box as image features for…

With the rapid advancement of hardware and software technologies, research in autonomous driving has seen significant growth. The prevailing framework for multi-sensor autonomous driving encompasses sensor installation, perception, path…

3D object detection is one of the most important tasks for the perception systems of autonomous vehicles. With the significant success in the field of 2D object detection, several monocular image based 3D object detection algorithms have…

Vehicle 3D extents and trajectories are critical cues for predicting the future location of vehicles and planning future agent ego-motion based on those predictions. In this paper, we propose a novel online framework for 3D vehicle…

This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…

Safety is still the main issue of autonomous driving, and in order to be globally deployed, they need to predict pedestrians' motions sufficiently in advance. While there is a lot of research on coarse-grained (human center prediction) and…

Estimating vehicles' locations is one of the key components in intelligent traffic management systems (ITMSs) for increasing traffic scene awareness. Traditionally, stationary sensors have been employed in this regard. The development of…

Vision-based cooperative motion estimation is an important problem for many multi-robot systems such as cooperative aerial target pursuit. This problem can be formulated as bearing-only cooperative motion estimation, where the visual…

Oriented object detection in aerial images is a challenging task as the objects in aerial images are displayed in arbitrary directions and are usually densely packed. Current oriented object detection methods mainly rely on two-stage…

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…

This paper proposes a method to extract the position and pose of vehicles in the 3D world from a single traffic camera. Most previous monocular 3D vehicle detection algorithms focused on cameras on vehicles from the perspective of a driver,…

Micro-aerial vehicles (MAVs) are becoming ubiquitous across multiple industries and application domains. Lightweight MAVs with only an onboard flight controller and a minimal sensor suite (e.g., IMU, vision, and vertical ranging sensors)…

3D human pose estimation is a key enabling technology for applications such as healthcare monitoring, human-robot collaboration, and immersive gaming, but real-world deployment remains challenged by viewpoint variations. Existing methods…

3D object detection is vital as it would enable us to capture objects' sizes, orientation, and position in the world. As a result, we would be able to use this 3D detection in real-world applications such as Augmented Reality (AR),…

Understanding ego-motion and surrounding vehicle state is essential to enable automated driving and advanced driving assistance technologies. Typical approaches to solve this problem use fusion of multiple sensors such as LiDAR, camera, and…

3D object detection is one of the most important tasks in 3D vision perceptual system of autonomous vehicles. In this paper, we propose a novel two stage 3D object detection method aimed at get the optimal solution of object location in 3D…

In this work, we propose an efficient and accurate monocular 3D detection framework in single shot. Most successful 3D detectors take the projection constraint from the 3D bounding box to the 2D box as an important component. Four edges of…