154 citations · 243 across the 27 of their papers we have counts for
29 papers
OpenCVL: An Open, Diverse, and Large-Scale Dataset for Fine-Grained Cross-View Localization
Zimin Xia, Mubariz Zaffar, Junsheng Fu +2
Fine-grained Cross-View Localization (CVL) estimates the precise position and orientation of a ground-level image by aligning it with geo-referenced aerial imagery, offering a scal…
RVLoss: Runoff Vote Loss for Self-Supervised LiDAR Scene Flow Estimation
Shiming Wang, Liangliang Nan, Julian Kooij +2
LiDAR scene flow estimates point-wise motion between two consecutive scans, referred to as the source and target. Leading self-supervised methods typically minimize the Chamfer los…
Emergent 3D Instance Segmentation from Self-Supervised Point Transformers
Ted Lentsch, Santiago Montiel-Marín, Holger Caesar +1
Unsupervised 3D instance segmentation of outdoor LiDAR scans has traditionally relied on handcrafted geometric priors such as density-based clustering, motion cues, or projected 2D…
COP-Q: Safety-First Reinforcement Learning for Robot Control via Cholesky-Ordered Projection
Guopeng Li, Moritz A. Zanger, Matthijs T. J. Spaan +1
Safe robot control requires maximizing return while satisfying safety constraints. In off-policy safe reinforcement learning, reward and safety Q-values are commonly learned by sep…
Off-Policy Safe Reinforcement Learning with Constrained Optimistic Exploration
Guopeng Li, Matthijs T. J. Spaan, Julian F. P. Kooij
When safety is formulated as a limit of cumulative cost, safe reinforcement learning (RL) aims to learn policies that maximize return subject to the cost constraint in data collect…
AsyncBEV: Cross-modal Flow Alignment in Asynchronous 3D Object Detection
Shiming Wang, Holger Caesar, Liangliang Nan +1
In autonomous driving, multi-modal perception tasks like 3D object detection typically rely on well-synchronized sensors, both at training and inference. However, despite the use o…
Uncertainty-Aware Autonomous Vehicles: Predicting the Road Ahead
Shireen Kudukkil Manchingal, Armand Amaritei, Mihir Gohad +4
Autonomous Vehicle (AV) perception systems have advanced rapidly in recent years, providing vehicles with the ability to accurately interpret their environment. Perception systems…
The Overlooked Value of Test-time Reference Sets in Visual Place Recognition
Mubariz Zaffar, Liangliang Nan, Sebastian Scherer +1
Given a query image, Visual Place Recognition (VPR) is the task of retrieving an image of the same place from a reference database with robustness to viewpoint and appearance chang…
Epistemic Artificial Intelligence is Essential for Machine Learning Models to Truly 'Know When They Do Not Know'
Shireen Kudukkil Manchingal, Andrew Bradley, Julian F. P. Kooij +3
Despite AI's impressive achievements, including recent advances in generative and large language models, there remains a significant gap in the ability of AI systems to handle unce…
NeuSEditor: From Multi-View Images to Text-Guided Neural Surface Edits
Nail Ibrahimli, Julian F. P. Kooij, Liangliang Nan
Implicit surface representations are valued for their compactness and continuity, but they pose significant challenges for editing. Despite recent advancements, existing methods of…
A Vehicle System for Navigating Among Vulnerable Road Users Including Remote Operation
Oscar de Groot, Alberto Bertipaglia, Hidde Boekema +21
We present a vehicle system capable of navigating safely and efficiently around Vulnerable Road Users (VRUs), such as pedestrians and cyclists. The system comprises key modules for…
VoteFlow: Enforcing Local Rigidity in Self-Supervised Scene Flow
Yancong Lin, Shiming Wang, Liangliang Nan +2
Scene flow estimation aims to recover per-point motion from two adjacent LiDAR scans. However, in real-world applications such as autonomous driving, points rarely move independent…
A Deep Automotive Radar Detector using the RaDelft Dataset
Ignacio Roldan, Andras Palffy, Julian F. P. Kooij +3
The detection of multiple extended targets in complex environments using high-resolution automotive radar is considered. A data-driven approach is proposed where unlabeled synchron…
Adapting Fine-Grained Cross-View Localization to Areas without Fine Ground Truth
Zimin Xia, Yujiao Shi, Hongdong Li +1
Given a ground-level query image and a geo-referenced aerial image that covers the query's local surroundings, fine-grained cross-view localization aims to estimate the location of…
On the Estimation of Image-matching Uncertainty in Visual Place Recognition
Mubariz Zaffar, Liangliang Nan, Julian F. P. Kooij
In Visual Place Recognition (VPR) the pose of a query image is estimated by comparing the image to a map of reference images with known reference poses. As is typical for image ret…
See Further Than CFAR: a Data-Driven Radar Detector Trained by Lidar
Ignacio Roldan, Andras Palffy, Julian F. P. Kooij +3
In this paper, we address the limitations of traditional constant false alarm rate (CFAR) target detectors in automotive radars, particularly in complex urban environments with mul…
MuVieCAST: Multi-View Consistent Artistic Style Transfer
Nail Ibrahimli, Julian F. P. Kooij, Liangliang Nan
We introduce MuVieCAST, a modular multi-view consistent style transfer network architecture that enables consistent style transfer between multiple viewpoints of the same scene. Th…
UniBEV: Multi-modal 3D Object Detection with Uniform BEV Encoders for Robustness against Missing Sensor Modalities
Shiming Wang, Holger Caesar, Liangliang Nan +1
Multi-sensor object detection is an active research topic in automated driving, but the robustness of such detection models against missing sensor input (modality missing), e.g., d…
How Informative is the Approximation Error from Tensor Decomposition for Neural Network Compression?
Jetze T. Schuurmans, Kim Batselier, Julian F. P. Kooij
Tensor decompositions have been successfully applied to compress neural networks. The compression algorithms using tensor decompositions commonly minimize the approximation error o…
CoPR: Towards Accurate Visual Localization With Continuous Place-descriptor Regression
Mubariz Zaffar, Liangliang Nan, Julian Francisco Pieter Kooij
Visual Place Recognition (VPR) is an image-based localization method that estimates the camera location of a query image by retrieving the most similar reference image from a map o…
Convolutional Cross-View Pose Estimation
Zimin Xia, Olaf Booij, Julian F. P. Kooij
We propose a novel end-to-end method for cross-view pose estimation. Given a ground-level query image and an aerial image that covers the query's local neighborhood, the 3 Degrees-…
Push-the-Boundary: Boundary-aware Feature Propagation for Semantic Segmentation of 3D Point Clouds
Shenglan Du, Nail Ibrahimli, Jantien Stoter +2
Feedforward fully convolutional neural networks currently dominate in semantic segmentation of 3D point clouds. Despite their great success, they suffer from the loss of local info…
How do Cross-View and Cross-Modal Alignment Affect Representations in Contrastive Learning?
Thomas M. Hehn, Julian F. P. Kooij, Dariu M. Gavrila
Various state-of-the-art self-supervised visual representation learning approaches take advantage of data from multiple sensors by aligning the feature representations across views…
SliceMatch: Geometry-guided Aggregation for Cross-View Pose Estimation
Ted Lentsch, Zimin Xia, Holger Caesar +1
This work addresses cross-view camera pose estimation, i.e., determining the 3-Degrees-of-Freedom camera pose of a given ground-level image w.r.t. an aerial image of the local area…