Using a vehicle toy (in next future called vehicle) as a moving object an automatic road lighting system (ARLS) model is constructed. A digital video camera with 25 fps is used to capture the vehicle motion as it moves in the test segment of the road. Captured images are then processed to calculate vehicle speed. This information of the speed together with position of vehicle is then used to control the lighting system along the path that passes by the vehicle. Length of the road test segment is 1 m, the video camera is positioned about 1.1 m above the test segment, and the vehicle toy dimension is 13 cm \times 9.3 cm. In this model, the maximum speed that ARLS can handle is about 1.32 m/s, and the highest performance is obtained about 91% at speed 0.93 m/s.
Computer Vision Center（计算机视觉中心）；Universitat Autònoma de Barcelona（巴塞罗那自治大学）
Vision-based road detection is an essential functionality for supporting advanced driver assistance systems (ADAS) such as road following and vehicle and pedestrian detection. The major challenges of road detection are dealing with shadows and lighting variations and the presence of other objects in the scene. Current road detection algorithms characterize road areas at pixel level and group pixels accordingly. However, these algorithms fail in presence of strong shadows and lighting variations. Therefore, we propose a road detection algorithm based on video alignment. The key idea of the algo…
NICTA（国家信息与通信技术研究院）；Computer Vision Center（计算机视觉中心）；Univ. Autónoma de Barcelona (UAB)（巴塞罗那自治大学）；University of Amsterdam（阿姆斯特丹大学）
Detecting traversable road areas ahead a moving vehicle is a key process for modern autonomous driving systems. A common approach to road detection consists of exploiting color features to classify pixels as road or background. These algorithms reduce the effect of lighting variations and weather conditions by exploiting the discriminant/invariant properties of different color representations. Furthermore, the lack of labeled datasets has motivated the development of algorithms performing on single images based on the assumption that the bottom part of the image belongs to the road surface. In…
Technical Report for ICRA 2025 GOOSE 2D Semantic Segmentation Challenge: Boosting Off-Road Segmentation via Photometric Distortion and Exponential Moving Average
Daegu-Gyeongbuk Research Center, Electronics and Telecommunications Research Institute (ETRI)（大邱-庆尚研究中心，电子电信研究所）
National Cheng Kung University（国立成功大学）；Academia Sinica & MOST Joint Research Center for AI Technology and All Vista Healthcare（中央研究院与科技部人工智能技术暨全幅健康照护联合研究中心）
It is hard to detect on-road objects under various lighting conditions. To improve the quality of the classifier, three techniques are used. We define subclasses to separate daytime and nighttime samples. Then we skip similar samples in the training set to prevent overfitting. With the help of the outside training samples, the detection accuracy is also improved. To detect objects in an edge device, Nvidia Jetson TX2 platform, we exert the lightweight model ResNet-18 FPN as the backbone feature extractor. The FPN (Feature Pyramid Network) generates good features for detecting objects over vari…
The previous fine-grained datasets mainly focus on classification and are often captured in a controlled setup, with the camera focusing on the objects. We introduce the first Fine-Grained Vehicle Detection (FGVD) dataset in the wild, captured from a moving camera mounted on a car. It contains 5502 scene images with 210 unique fine-grained labels of multiple vehicle types organized in a three-level hierarchy. While previous classification datasets also include makes for different kinds of cars, the FGVD dataset introduces new class labels for categorizing two-wheelers, autorickshaws, and truck…
Illumination effects in images, specifically cast shadows and shading, have been shown to decrease the performance of deep neural networks on a large number of vision-based detection, recognition and segmentation tasks in urban driving scenes. A key factor that contributes to this performance gap is the lack of `time-of-day' diversity within real, labeled datasets. There have been impressive advances in the realm of image to image translation in transferring previously unseen visual effects into a dataset, specifically in day to night translation. However, it is not easy to constrain what visu…
Shiraz University（设拉子大学）；University of Waterloo（滑铁卢大学）
Vehicle Make and Model Recognition (MMR) systems provide a fully automatic framework to recognize and classify different vehicle models. Several approaches have been proposed to address this challenge, however they can perform in restricted conditions. Here, we formulate the vehicle make and model recognition as a fine-grained classification problem and propose a new configurable on-road vehicle make and model recognition framework. We benefit from the unsupervised feature learning methods and in more details we employ Locality constraint Linear Coding (LLC) method as a fast feature encoder fo…
GE Research（通用电气研究院）；Motional（Motional公司）；GE Digital（通用电气数字部门）
Off-road autonomous unmanned ground vehicles (UGVs) are being developed for military and commercial use to deliver crucial supplies in remote locations, help with mapping and surveillance, and to assist war-fighters in contested environments. Due to complexity of the off-road environments and variability in terrain, lighting conditions, diurnal and seasonal changes, the models used to perceive the environment must handle a lot of input variability. Current datasets used to train perception models for off-road autonomous navigation lack of diversity in seasons, locations, semantic classes, as w…
Oxford Robotics Institute (ORI)（牛津机器人研究所）；University of Oxford（牛津大学）
Road boundaries, or curbs, provide autonomous vehicles with essential information when interpreting road scenes and generating behaviour plans. Although curbs convey important information, they are difficult to detect in complex urban environments (in particular in comparison to other elements of the road such as traffic signs and road markings). These difficulties arise from occlusions by other traffic participants as well as changing lighting and/or weather conditions. Moreover, road boundaries have various shapes, colours and structures while motion planning algorithms require accurate and …
National Institute of Technology Warangal（瓦朗加尔国家技术学院）
Animals have been a common sighting on roads in India which leads to several accidents between them and vehicles every year. This makes it vital to develop a support system for driverless vehicles that assists in preventing these forms of accidents. In this paper, we propose a neoteric framework for avoiding vehicle-to-animal collisions by developing an efficient approach for the detection of animals on highways using deep learning and computer vision techniques on dashcam video. Our approach leverages the Mask R-CNN model for detecting and identifying various commonly found animals. Then, we …
Human lives are important. The decision to allow self-driving vehicles operate on our roads carries great weight. This has been a hot topic of debate between policy-makers, technologists and public safety institutions. The recent Uber Inc. self-driving car crash, resulting in the death of a pedestrian, has strengthened the argument that autonomous vehicle technology is still not ready for deployment on public roads. In this work, we analyze the Uber car crash and shed light on the question, "Could the Uber Car Crash have been avoided?". We apply state-of-the-art Computer Vision models to this …
University of Toronto Institute for Aerospace Studies（多伦多大学航空航天研究所）
Successful visual navigation depends upon capturing images that contain sufficient useful information. In this letter, we explore a data-driven approach to account for environmental lighting changes, improving the quality of images for use in visual odometry (VO) or visual simultaneous localization and mapping (SLAM). We train a deep convolutional neural network model to predictively adjust camera gain and exposure time parameters such that consecutive images contain a maximal number of matchable features. The training process is fully self-supervised: our training signal is derived from an un…
RGM: Reconstructing High-fidelity 3D Car Assets with Relightable 3D-GS Generative Model from a Single Image
AIR, Tsinghua University（清华大学AIR）；Department of Computer Science and Technology, Tsinghua University（清华大学计算机科学与技术系）；Beijing Jiaotong University（北京交通大学）；Beijing Institute of Technology（北京理工大学）
School of Automation, Southeast University（东南大学自动化学院）；Key Laboratory of Measurement and Control of CSE, Ministry of Education, Southeast University（东南大学复杂工程系统测量与控制教育部重点实验室）；Faculty of Engineering and Information Technology, University of Technology Sydney（悉尼科技大学工程与信息技术学院）
The technology of vehicle and driver detection in Intelligent Transportation System(ITS) is a hot topic in recent years. In particular, the driver detection is still a challenging problem which is conductive to supervising traffic order and maintaining public safety. In this paper, an algorithm based on YOLOv3 is proposed to realize the detection and classification of vehicles, drivers, and people on the highway, so as to achieve the purpose of distinguishing driver and passenger and form a one-to-one correspondence between vehicles and drivers. The proposed model and contrast experiment are c…
The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；Tsinghua University（清华大学）；The Hong Kong University of Science and Technology（香港科技大学）
Visual context is important in object recognition and it is still an open problem in computer vision. Along with the advent of deep convolutional neural networks (CNN), using contextual information with such systems starts to receive attention in the literature. At the same time, aerial imagery is gaining momentum. While advances in deep learning make good progress in aerial image analysis, this problem still poses many great challenges. Aerial images are often taken under poor lighting conditions and contain low resolution objects, many times occluded by trees or taller buildings. In this dom…
Institute of Computer Science & Technology, Peking University（北京大学计算机科学技术研究所）
In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads, 3-D reconstruction etc., but in this work we focus on a vision-based model that directly maps raw input images to steering angles using deep networks. This represents a nascent research topic in computer vision. The technical contributions of this work are three-fold. First, the model is learned and evaluated on real human driving videos that are time-synchron…
Oxford Robotics Institute, Dept. Engineering Science, University of Oxford（牛津大学工程科学系牛津机器人研究所）
We present a weakly-supervised approach to segmenting proposed drivable paths in images with the goal of autonomous driving in complex urban environments. Using recorded routes from a data collection vehicle, our proposed method generates vast quantities of labelled images containing proposed paths and obstacles without requiring manual annotation, which we then use to train a deep semantic segmentation network. With the trained network we can segment proposed paths and obstacles at run-time using a vehicle equipped with only a monocular camera without relying on explicit modelling of road or …
University of Alcalá（阿尔卡拉大学）；European Commission, Joint Research Center（欧盟委员会联合研究中心）
Despite all the challenges and limitations, vision-based vehicle speed detection is gaining research interest due to its great potential benefits such as cost reduction, and enhanced additional functions. As stated in a recent survey [1], the use of learning-based approaches to address this problem is still in its infancy. One of the main difficulties is the need for a large amount of data, which must contain the input sequences and, more importantly, the output values corresponding to the actual speed of the vehicles. Data collection in this context requires a complex and costly setup to capt…
