8 papers · 1 filter
AnchorD: Metric Grounding of Monocular Depth Using Factor Graphs
Simon Dorer, Martin Büchner, Nick Heppert +1
Dense and accurate depth estimation is essential for robotic manipulation, grasping, and navigation, yet currently available depth sensors are prone to errors on transparent, specu…
ParkDiffusion: Heterogeneous Multi-Agent Multi-Modal Trajectory Prediction for Automated Parking using Diffusion Models
Jiarong Wei, Niclas Vödisch, Anna Rehr +2
Automated parking is a critical feature of Advanced Driver Assistance Systems (ADAS), where accurate trajectory prediction is essential to bridge perception and planning modules. D…
Collaborative Dynamic 3D Scene Graphs for Open-Vocabulary Urban Scene Understanding
Tim Steinke, Martin Büchner, Niclas Vödisch +1
Mapping and scene representation are fundamental to reliable planning and navigation in mobile robots. While purely geometric maps using voxel grids allow for general navigation, o…
A Good Foundation is Worth Many Labels: Label-Efficient Panoptic Segmentation
Niclas Vödisch, Kürsat Petek, Markus Käppeler +2
A key challenge for the widespread application of learning-based models for robotic perception is to significantly reduce the required amount of annotated training data while achie…
Traffic and Safety Rule Compliance of Humans in Diverse Driving Situations
Michael Kurenkov, Sajad Marvi, Julian Schmidt +6
The increasing interest in autonomous driving systems has highlighted the need for an in-depth analysis of human driving behavior in diverse scenarios. Analyzing human data is cruc…
Automatic Target-Less Camera-LiDAR Calibration From Motion and Deep Point Correspondences
Kürsat Petek, Niclas Vödisch, Johannes Meyer +3
Sensor setups of robotic platforms commonly include both camera and LiDAR as they provide complementary information. However, fusing these two modalities typically requires a highl…