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09/17/2023
Uncertainty-aware 3D Object-Level Mapping with Deep Shape Priors
3D object-level mapping is a fundamental problem in robotics, which is e...
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08/28/2023
Active Pose Refinement for Textureless Shiny Objects using the Structured Light Camera
6D pose estimation of textureless shiny objects has become an essential ...
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07/02/2023
POV-SLAM: Probabilistic Object-Aware Variational SLAM in Semi-Static Environments
Simultaneous localization and mapping (SLAM) in slowly varying scenes is...
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06/17/2023
Multi-view 3D Object Reconstruction and Uncertainty Modelling with Neural Shape Prior
3D object reconstruction is important for semantic scene understanding. ...
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04/27/2023
Gradient-based Maximally Interfered Retrieval for Domain Incremental 3D Object Detection
Accurate 3D object detection in all weather conditions remains a key cha...
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04/27/2023
HyperMODEST: Self-Supervised 3D Object Detection with Confidence Score Filtering
Current LiDAR-based 3D object detectors for autonomous driving are almos...
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03/19/2023
A Target-Based Extrinsic Calibration Framework for Non-Overlapping Camera-Lidar Systems Using a Motion Capture System
In this work, we present a novel target-based lidar-camera extrinsic cal...
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03/12/2023
Next-Best-View Selection for Robot Eye-in-Hand Calibration
Robotic eye-in-hand calibration is the task of determining the rigid 6-D...
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01/12/2023
Self-Supervised Image-to-Point Distillation via Semantically Tolerant Contrastive Loss
An effective framework for learning 3D representations for perception ta...
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11/24/2022
Estimating Regression Predictive Distributions with Sample Networks
Estimating the uncertainty in deep neural network predictions is crucial...
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10/20/2022
6D Pose Estimation for Textureless Objects on RGB Frames using Multi-View Optimization
6D pose estimation of textureless objects is a valuable but challenging ...
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08/17/2022
InterTrack: Interaction Transformer for 3D Multi-Object Tracking
3D multi-object tracking (MOT) is a key problem for autonomous vehicles,...
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05/02/2022
POCD: Probabilistic Object-Level Change Detection and Volumetric Mapping in Semi-Static Scenes
Maintaining an up-to-date map to reflect recent changes in the scene is ...
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03/10/2022
Point Density-Aware Voxels for LiDAR 3D Object Detection
LiDAR has become one of the primary 3D object detection sensors in auton...
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03/02/2022
Dense Voxel Fusion for 3D Object Detection
Camera and LiDAR sensor modalities provide complementary appearance and ...
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02/27/2022
Next-Best-View Prediction for Active Stereo Cameras and Highly Reflective Objects
Depth acquisition with the active stereo camera is a challenging task fo...
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11/30/2021
Pattern-Aware Data Augmentation for LiDAR 3D Object Detection
Autonomous driving datasets are often skewed and in particular, lack tra...
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10/08/2021
Temporal Convolutions for Multi-Step Quadrotor Motion Prediction
Model-based control methods for robotic systems such as quadrotors, auto...
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05/10/2021
ROBI: A Multi-View Dataset for Reflective Objects in Robotic Bin-Picking
In robotic bin-picking applications, the perception of texture-less, hig...
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03/19/2021
Probabilistic Multi-View Fusion of Active Stereo Depth Maps for Robotic Bin-Picking
The reliable fusion of depth maps from multiple viewpoints has become an...
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03/01/2021
Categorical Depth Distribution Network for Monocular 3D Object Detection
Monocular 3D object detection is a key problem for autonomous vehicles, ...
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02/08/2021
Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching
Successful visual navigation depends upon capturing images that contain ...
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01/13/2021
Estimating and Evaluating Regression Predictive Uncertainty in Deep Object Detectors
Predictive uncertainty estimation is an essential next step for the reli...
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12/01/2020
Uncertainty-Constrained Differential Dynamic Programming in Belief Space for Vision Based Robots
Most mobile robots follow a modular sense-planact system architecture th...
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03/11/2020
Confidence Guided Stereo 3D Object Detection with Split Depth Estimation
Accurate and reliable 3D object detection is vital to safe autonomous dr...
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01/25/2020
Vehicle Scheduling Problem
We define a new problem called the Vehicle Scheduling Problem (VSP). The...
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09/18/2019
Visual Measurement Integrity Monitoring for UAV Localization
Unmanned aerial vehicles (UAVs) have increasingly been adopted for safet...
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09/17/2019
Object-Centric Stereo Matching for 3D Object Detection
Safe autonomous driving requires reliable 3D object detection-determinin...
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09/11/2019
3D traffic flow model for UAVs
In this work, we introduce a microscopic traffic flow model called Scala...
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07/15/2019
Improving 3D Object Detection for Pedestrians with Virtual Multi-View Synthesis Orientation Estimation
Accurately estimating the orientation of pedestrians is an important and...
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05/21/2019
aUToTrack: A Lightweight Object Detection and Tracking System for the SAE AutoDrive Challenge
The University of Toronto is one of eight teams competing in the SAE Aut...
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04/02/2019
Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstruction
We present MonoPSR, a monocular 3D object detection method that leverage...
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03/09/2019
BayesOD: A Bayesian Approach for Uncertainty Estimation in Deep Object Detectors
One of the challenging aspects of incorporating deep neural networks int...
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11/29/2018
Visual SLAM with Network Uncertainty Informed Feature Selection
In order to facilitate long-term localization using a visual simultaneou...
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07/25/2018
Aerial Imagery for Roof Segmentation: A Large-Scale Dataset towards Automatic Mapping of Buildings
Automatic mapping of buildings from remote sensing imagery is currently ...
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07/24/2018
Encoderless Gimbal Calibration of Dynamic Multi-Camera Clusters
Dynamic Camera Clusters (DCCs) are multi-camera systems where one or mor...
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07/16/2018
Leveraging Pre-Trained 3D Object Detection Models For Fast Ground Truth Generation
Training 3D object detectors for autonomous driving has been limited to ...
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06/20/2018
A Hierarchical Deep Architecture and Mini-Batch Selection Method For Joint Traffic Sign and Light Detection
Traffic light and sign detectors on autonomous cars are integral for roa...
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05/20/2018
Multi-Step Prediction of Dynamic Systems with Recurrent Neural Networks
Recurrent Neural Networks (RNNs) can encode rich dynamics which makes th...
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05/04/2018
Manifold Geometry with Fast Automatic Derivatives and Coordinate Frame Semantics Checking in C++
Computer vision and robotics problems often require representation and e...
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01/31/2018
In Defense of Classical Image Processing: Fast Depth Completion on the CPU
With the rise of data driven deep neural networks as a realization of un...
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06/25/2015
