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Stereo Vision-based Semantic 3D Object and Ego-motion Tracking for Autonomous Driving
時間 2021-01-02
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Peiliang Li、Tong Qin、沈劭劼 香港科技大學 摘要 我們提出一種基於立體相機的方法來追蹤複雜自動駕駛環境中相機的運動和3D語義對象。取代了直接還原3D立體輪廓的端到端方法,我們提出使用簡易標記的2D檢測和離散視點分類與一個輕量級的語義推斷方法一同去獲得粗略的3D對象測量值。基於在複雜環境中魯棒的半自動對象感知相機姿態追蹤,結合我們新的動態對象集束調整方法去融合時間稀疏對應特徵和3
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2.
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