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Pose Estimation and 3D Reconstruction of Vehicles from Stereo-Images Using a Subcategory-Aware Shape Prior [article]

Max Coenen, Franz Rottensteiner
2021 arXiv   pre-print
We introduce a subcategory-aware deformable vehicle model that makes use of a prediction of the vehicle type for a more appropriate regularisation of the vehicle shape.  ...  The goal of this paper is to show how 3D object reconstruction can profit from a more sophisticated shape prior and from a combined incorporation of different observation types inferred from the images  ...  Acknowledgements This work was supported by the German Research Foundation (DFG) as part of the Research Training Group i.c.sens [GRK2159].  ... 
arXiv:2107.10898v1 fatcat:vpjawh3snjhnbczxdmlusw7efm

Mono3D++: Monocular 3D Vehicle Detection with Two-Scale 3D Hypotheses and Task Priors [article]

Tong He, Stefano Soatto
2019 arXiv   pre-print
We present a method to infer 3D pose and shape of vehicles from a single image.  ...  Specifically, we use a morphable wireframe model to generate a fine-scaled representation of vehicle shape and pose.  ...  Acknowledgement Research supported by ONR N00014-17-1-2072, N00014-13-1-034 and ARO W911NF-17-1-0304.  ... 
arXiv:1901.03446v1 fatcat:ycwymjmtijgurftuozbhptby4m

Computer Vision for Autonomous Vehicles: Problems, Datasets and State of the Art [article]

Joel Janai, Fatma Güney, Aseem Behl, Andreas Geiger
2021 arXiv   pre-print
Our survey includes both the historically most relevant literature as well as the current state of the art on several specific topics, including recognition, reconstruction, motion estimation, tracking  ...  This book attempts to narrow this gap by providing a survey on the state-of-the-art datasets and techniques.  ...  [59] use DeepCut to estimate the 3D pose and 3D shape of a human body from a single unconstrained image. Towards this goal, SMPL, a 3D body shape model proposed by Loper et al.  ... 
arXiv:1704.05519v3 fatcat:xiintiarqjbfldheeg2hsydyra

Monocular 3D Object Detection: An Extrinsic Parameter Free Approach [article]

Yunsong Zhou, Yuan He, Hongzi Zhu, Cheng Wang, Hongyang Li, Qinhong Jiang
2021 arXiv   pre-print
To this end, we propose a novel method to capture camera pose to formulate the detector free from extrinsic perturbation.  ...  Experiments demonstrate our method yields the best performance compared with the other state-of-the-arts by a large margin on both KITTI 3D and nuScenes datasets.  ...  Reconstructing vehicles from a single arXiv:1911.09712, 2019. 1, 2 image: Shape priors for road scene understanding. In 2017 [46] Rui Wang, Stephen M Pizer, and Jan-Michael Frahm.  ... 
arXiv:2106.15796v2 fatcat:gobjw2dp2ffifgzndlsfmkmiay

3D Object Proposals using Stereo Imagery for Accurate Object Class Detection [article]

Xiaozhi Chen and Kaustav Kundu and Yukun Zhu and Huimin Ma and Sanja Fidler and Raquel Urtasun
2017 arXiv   pre-print
Our method first aims at generating a set of high-quality 3D object proposals by exploiting stereo imagery.  ...  In particular, we employ a convolutional neural net (CNN) that exploits context and depth information to jointly regress to 3D bounding box coordinates and object pose.  ...  ACKNOWLEDGMENTS The work was partially supported by NSFC 61171113, NBRPC 2016YFB0100900, NSERC, ONR-N00014-14-1-0232 and Toyota Motor Corporation.  ... 
arXiv:1608.07711v2 fatcat:3xhhpw2o7nggnjfmf24w5wy6ty

Driving Datasets Literature Review [article]

Charles-Éric Noël Laflamme, François Pomerleau, Philippe Giguère
2019 arXiv   pre-print
This report is a survey of the different autonomous driving datasets which have been published up to date. The first section introduces the many sensor types used in autonomous driving datasets.  ...  Finally, the fourth section provides comprehensive lists of datasets, mainly in the form of tables.  ...  Acknowledgments This work was supported by NSERC CRD Grant "BRITE: Bus RapId Transit systEm" (511843) and Consortium InnovÉÉ. Page 31 of 39 Driving Datasets Literature Review  ... 
arXiv:1910.11968v1 fatcat:l6a7rbwfafdujmzy527sexmxle

Analysis of the Influence of Training Data on Road User Detection

Carlos Guindel, David Martin, Jose Maria Armingol, Christoph Stiller
2018 2018 IEEE International Conference on Vehicular Electronics and Safety (ICVES)  
Stiller and the other members of the MRT team for the four months that I spent there.  ...  Also, thanks to the members of the scientific community who made this thesis possible by publicly releasing databases and source code.  ...  [189] go even further and try to reconstruct the 3D shape of cars using a single frame.  ... 
doi:10.1109/icves.2018.8519510 dblp:conf/icves/Guindel0AS18 fatcat:fu3cvrvkdjeivndsipd4hnhnqy

Joint Attention in Driver-Pedestrian Interaction: from Theory to Practice [article]

Amir Rasouli, John K. Tsotsos
2018 arXiv   pre-print
In this literature review we aim to address the interaction problem between pedestrians and drivers (or vehicles) from joint attention point of view.  ...  The interaction between road users is a form of negotiation in which the parties involved have to share their attention regarding a common objective or a goal (e.g. crossing an intersection), and coordinate  ...  Likewise, Agrawal and Triggs [538] use a regression technique to learn the full 3D human body poses from a series of image silhouettes.  ... 
arXiv:1802.02522v2 fatcat:nzeq5eleajcktjl32m2kyqu7rq

Perception, Planning, Control, and Coordination for Autonomous Vehicles

Scott Pendleton, Hans Andersen, Xinxin Du, Xiaotong Shen, Malika Meghjani, You Eng, Daniela Rus, Marcelo Ang
2017 Machines  
The objective of this paper is to provide a general overview of the recent developments in the realm of autonomous vehicle software systems.  ...  Fundamental components of autonomous vehicle software are reviewed, and recent developments in each area are discussed.  ...  ., X.S. and H.A. contributed to the perception content; X.S. contributed to the vehicle cooperation content; All authors had input when writing other sections of the paper, including the introduction and  ... 
doi:10.3390/machines5010006 fatcat:24h5nl5quve6fpt2wtdyf4qafe

Monocular Quasi-Dense 3D Object Tracking [article]

Hou-Ning Hu, Yung-Hsu Yang, Tobias Fischer, Trevor Darrell, Fisher Yu, Min Sun
2021 arXiv   pre-print
We propose a framework that can effectively associate moving objects over time and estimate their full 3D bounding box information from a sequence of 2D images captured on a moving platform.  ...  A reliable and accurate 3D tracking framework is essential for predicting future locations of surrounding objects and planning the observer's actions in numerous applications such as autonomous driving  ...  Other works leverage shape prior cues to enhance the performance of image-based 3D object detection [22] , [23] .  ... 
arXiv:2103.07351v1 fatcat:tn7il5h4gbcrxdl5kvb7otgzcu

Event-Based Sensing and Signal Processing in the Visual, Auditory, and Olfactory Domain: A Review

Mohammad-Hassan Tayarani-Najaran, Michael Schmuker
2021 Frontiers in Neural Circuits  
We also provide a survey of the literature covering neuromorphic sensing and signal processing in all three modalities.  ...  Our aim is to facilitate research in event-based sensing and signal processing by providing a comprehensive overview of the research performed previously as well as highlighting conceptual advantages,  ...  Using Single Camera In conventional stereo matching algorithms, a set of camera from different angles are used to find a dense 3D structure of the scene.  ... 
doi:10.3389/fncir.2021.610446 pmid:34135736 pmcid:PMC8203204 fatcat:qjvv6czzufazthcyvs7go5pnj4

Deep Semantic Segmentation for Automated Driving: Taxonomy, Roadmap and Challenges [article]

Mennatullah Siam, Sara Elkerdawy, Martin Jagersand, Senthil Yogamani
2017 arXiv   pre-print
Most of the current semantic segmentation algorithms are designed for generic images and do not incorporate prior structure and end goal for automated driving.  ...  Second, the particular challenges of deploying it into a safety system which needs high level of accuracy and robustness are listed.  ...  A recent work in [43] proposed depth and motion network for learning monocular stereo. As far as the authors are aware, there is no work on jointly estimating depth and semantics with in a network.  ... 
arXiv:1707.02432v2 fatcat:mksnyowbojgm3i3vcp7nwpdkcq

MonoPair: Monocular 3D Object Detection Using Pairwise Spatial Relationships [article]

Yongjian Chen and Lei Tai and Kai Sun and Mingyang Li
2020 arXiv   pre-print
Most detectors consider each 3D object as an independent training target, inevitably resulting in a lack of useful information for occluded samples.  ...  To this end, we propose a novel method to improve the monocular 3D object detection by considering the relationship of paired samples.  ...  Mono3D [5] focuses on the fact that 3D objects are on the ground plane. Prior 3D shapes of vehicles are also leveraged to reconstruct the bounding box for autonomous driving [26] .  ... 
arXiv:2003.00504v1 fatcat:zjwwmjqf5jfwjcizpvsoirfisi

Data Lifecycle Management in Precision Agriculture Supported by Information and Communication Technology

Konstantinos Demestichas, Emmanouil Daskalakis
2020 Agronomy  
Information and communication technology (ICT) systems have influenced and shaped every part of modern life, and PA is no exception.  ...  The role of agriculture in environmental degradation and climate change has been at the center of a long-lasting and controversial debate.  ...  Lin et al. propose a method for creating 3D panoramic models from image pairs captured with mobile stereo machine vision systems.  ... 
doi:10.3390/agronomy10111648 fatcat:e3ubqxydojaerjgtaqtzaokkam

Deep and Transfer Learning Approaches for Pedestrian Identification and Classification in Autonomous Vehicles

Alex Mounsey, Asiya Khan, Sanjay Sharma
2021 Electronics  
This paper demonstrates that the use of image augmentation on training data can yield varying results.  ...  Pedestrian detection is at the core of autonomous road vehicle navigation systems as they allow a vehicle to understand where potential hazards lie in the surrounding area and enable it to act in such  ...  Images have been recorded using a colour stereo camera with a resolution of 640 × 480 pixels and 6 mm focal length.  ... 
doi:10.3390/electronics10243159 fatcat:y27w35cilzbrlfaeomy6kmdjzm
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