相关论文: Object-Centric Stereo Ranging for Autonomous Drivi…

Estimating the distance to objects is crucial for autonomous vehicles when using depth sensors is not possible. In this case, the distance has to be estimated from on-board mounted RGB cameras, which is a complex task especially in…

With the advent of aerial image datasets, dense stereo matching has gained tremendous progress. This work analyses dense stereo correspondence analysis on aerial images using different techniques. Traditional methods, optimization based…

RGB video object tracking is a fundamental task in computer vision. Its effectiveness can be improved using depth information, particularly for handling motion-blurred target. However, depth information is often missing in commonly used…

Visual localization is an essential component of intelligent transportation systems, enabling broad applications that require understanding one's self location when other sensors are not available. It is mostly tackled by image retrieval…

Background image subtraction algorithm is a common approach which detects moving objects in a video sequence by finding the significant difference between the video frames and the static background model. This paper presents a developed…

Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…

Depth Estimation plays a crucial role in recent applications in robotics, autonomous vehicles, and augmented reality. These scenarios commonly operate under constraints imposed by computational power. Stereo image pairs offer an effective…

One of the major open challenges in self-driving cars is the ability to detect cars and pedestrians to safely navigate in the world. Deep learning-based object detector approaches have enabled great advances in using camera imagery to…

Monocular scene understanding is a foundational component of autonomous systems. Within the spectrum of monocular perception topics, one crucial and useful task for holistic 3D scene understanding is semantic scene completion (SSC), which…

The potentials of automotive radar for autonomous driving have not been fully exploited. We present a multi-input multi-output (MIMO) radar transmit and receive signal processing chain, a knowledge-aided approach exploiting the radar domain…

Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the performance of the sensor. Therefore, a…

Real-time acquisition of accurate scene depth is essential for automated robotic minimally invasive surgery. Stereo matching with binocular endoscopy can provide this depth information. However, existing stereo matching methods, designed…

In the last decades, the development of smartphones, drones, aerial patrols, and digital cameras enabled high-quality photographs available to large populations and, thus, provides an opportunity to collect massive data of the nature and…

This dissertation is a multifaceted contribution to the advancement of vision-based 3D perception technologies. In the first segment, the thesis introduces structural enhancements to both monocular and stereo 3D object detection algorithms.…

Accurate depth estimation with lowest compute and energy cost is a crucial requirement for unmanned and battery operated autonomous systems. Robotic applications require real time depth estimation for navigation and decision making under…

Stereo matching is an essential basis for various applications, but most stereo matching methods have poor generalization performance and require a fixed disparity search range. Moreover, current stereo matching methods focus on the scenes…

Directly learning multiple 3D objects motion from sequential images is difficult, while the geometric bundle adjustment lacks the ability to localize the invisible object centroid. To benefit from both the powerful object understanding…

Mixture models are well-established learning approaches that, in computer vision, have mostly been applied to inverse or ill-defined problems. However, they are general-purpose divide-and-conquer techniques, splitting the input space into…

Due to its capability to identify erroneous disparity assignments in dense stereo matching, confidence estimation is beneficial for a wide range of applications, e.g. autonomous driving, which needs a high degree of confidence as mandatory…

Achieving robust and accurate spatial perception under adverse weather and lighting conditions is crucial for the high-level autonomy of self-driving vehicles and robots. However, existing perception algorithms relying on the visible…