相关论文: Enhancing Inverse Perspective Mapping for Automati…
In this paper, we propose a method for online extrinsic camera calibration, i.e., estimating pitch, yaw, roll angles and camera height from road surface in sequential driving scene images. The proposed method estimates the extrinsic camera…
Geometric camera calibration is often required for applications that understand the perspective of the image. We propose perspective fields as a representation that models the local perspective properties of an image. Perspective Fields…
Reliable high-definition (HD) map construction is crucial for the driving safety of autonomous vehicles. Although recent studies demonstrate improved performance, their generalization capability across unfamiliar driving scenes remains…
Differentiable rendering has been widely adopted in computer graphics as a powerful approach to inverse problems, enabling efficient gradient-based optimization by differentiating the image formation process with respect to millions of…
Hand-drawn maps can be used to convey navigation instructions between humans and robots in a natural and efficient manner. However, these maps can often contain inaccuracies such as scale distortions and missing landmarks which present…
Given an unlabeled road map, we consider, from an algorithmic perspective, the cartographic problem to place non-overlapping road labels embedded in their roads. We first decompose the road network into logically coherent road sections,…
Vision-language models (VLMs) have recently emerged as powerful representation learning systems that align visual observations with natural language concepts, offering new opportunities for semantic reasoning in safety-critical autonomous…
Over the past few decades, a significant rise of camera-based applications for traffic monitoring has occurred. Governments and local administrations are increasingly relying on the data collected from these cameras to enhance road safety…
A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they can perceive the full motion state of the vehicle…
Efficient and reliable generation of global path plans are necessary for safe execution and deployment of autonomous systems. In order to generate planning graphs which adequately resolve the topology of a given environment, many…
The approximation of nonlinear kernels via linear feature maps has recently gained interest due to their applications in reducing the training and testing time of kernel-based learning algorithms. Current random projection methods avoid the…
In this article we describe an algorithm that can be applied for the generation of various classes of maps on orientable surfaces. It uses existing generators for abstract graphs and combines them with an efficient embedding and isomorphism…
The ability for a moving agent to localize itself in environment is the basic demand for emerging applications, such as autonomous driving, etc. Many existing methods based on multiple sensors still suffer from drift. We propose a scheme…
In this paper, we present SROM, a novel real-time Simultaneous Localization and Mapping (SLAM) system for autonomous vehicles. The keynote of the paper showcases SROM's ability to maintain localization at low sampling rates or at high…
Existing score-based methods for inverse problems often resort to approximate minimization of the KL divergence between the inversion distribution and the Bayesian posterior. Such an approximation leads to severe mode collapse and…
We here introduce a novel scheme for generating smoothly-varying infill graded microstructural (IGM) configurations from a given menu of generating cells. The scheme was originally proposed for essentially improving the variety of…
Integer programming (IP) has proven to be highly effective in solving many path-based optimization problems in robotics. However, the applications of IP are generally done in an ad-hoc, problem specific manner. In this work, after examined…
We present VMap, a map-like rectangular space-filling visualization, to perform vertex-centric graph exploration. Existing visualizations have limited support for quality optimization among rectangular aspect ratios, vertex-edge…
Reverse parking maneuvers of a vehicle with trailer system is a challenging task to complete for human drivers due to the unstable nature of the system and unintuitive controls required to orientate the trailer properly. This paper hence…
This work proposes a novel SLAM framework for stereo and visual inertial odometry estimation. It builds an efficient and robust parametrization of co-planar points and lines which leverages specific geometric constraints to improve camera…