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Autonomous vehicles rely on LiDAR sensors to perceive the environment. Adverse weather conditions like rain, snow, and fog negatively affect these sensors, reducing their reliability by introducing unwanted noise in the measurements. In this work, we tackle this problem by proposing a novel approach for detecting adverse weather effects in LiDAR data. We reformulate this problem as an outlier detection task and use an energy-based framework to detect outliers in point clouds. More specifically, our method learns to associate low energy scores with inlier points and high energy scores with outliers allowing for robust detection of adverse weather effects. In extensive experiments, we show that our method performs better in adverse weather detection and has higher robustness to unseen weather effects than previous state-of-the-art methods. Furthermore, we show how our method can be used to perform simultaneous outlier detection and semantic segmentation. Finally, to help expand the research field of LiDAR perception in adverse weather, we release the SemanticSpray dataset, which contains labeled vehicle spray data in highway-like scenarios.

To implement autonomous driving, one essential step is to model the vehicle environment based on the sensor inputs. Radars, with their well-known advantages, became a popular option to infer the occupancy state of grid cells surrounding the vehicle. To tackle data sparsity and noise of radar detections, we propose a deep learning-based Inverse Sensor Model (ISM) to learn the mapping from sparse radar detections to polar measurement grids. Improved lidar-based measurement grids are used as reference. The learned radar measurement grids, combined with radar Doppler velocity measurements, are further used to generate a Dynamic Grid Map (DGM). Experiments in real-world highway scenarios show that our approach outperforms the hand-crafted geometric ISMs. In comparison to state-of-the-art deep learning methods, our approach is the first one to learn a single-frame measurement grid in the polar scheme from radars with a limited Field Of View (FOV). The learning framework makes the learned ISM independent of the radar mounting. This enables us to flexibly use one or more radar sensors without network retraining and without requirements on 360{\deg} sensor coverage.

Radars and cameras belong to the most frequently used sensors for advanced driver assistance systems and automated driving research. However, there has been surprisingly little research on radar-camera fusion with neural networks. One of the reasons is a lack of large-scale automotive datasets with radar and unmasked camera data, with the exception of the nuScenes dataset. Another reason is the difficulty of effectively fusing the sparse radar point cloud on the bird's eye view (BEV) plane with the dense images on the perspective plane. The recent trend of camera-based 3D object detection using BEV features has enabled a new type of fusion, which is better suited for radars. In this work, we present RC-BEVFusion, a modular radar-camera fusion network on the BEV plane. We propose BEVFeatureNet, a novel radar encoder branch, and show that it can be incorporated into several state-of-the-art camera-based architectures. We show significant performance gains of up to 28% increase in the nuScenes detection score, which is an important step in radar-camera fusion research. Without tuning our model for the nuScenes benchmark, we achieve the best result among all published methods in the radar-camera fusion category.

We introduce the study of designing allocation mechanisms for fairly allocating indivisible goods in settings with interdependent valuation functions. In our setting, there is a set of goods that needs to be allocated to a set of agents (without disposal). Each agent is given a private signal, and his valuation function depends on the signals of all agents. Without the use of payments, there are strong impossibility results for designing strategyproof allocation mechanisms even in settings without interdependent values. Therefore, we turn to design mechanisms that always admit equilibria that are fair with respect to their true signals, despite their potentially distorted perception. To do so, we first extend the definitions of pure Nash equilibrium and well-studied fairness notions in literature to the interdependent setting. We devise simple allocation mechanisms that always admit a fair equilibrium with respect to the true signals. We complement this result by showing that, even for very simple cases with binary additive interdependent valuation functions, no allocation mechanism that always admits an equilibrium, can guarantee that all equilibria are fair with respect to the true signals.

Learning-based visual relocalizers exhibit leading pose accuracy, but require hours or days of training. Since training needs to happen on each new scene again, long training times make learning-based relocalization impractical for most applications, despite its promise of high accuracy. In this paper we show how such a system can actually achieve the same accuracy in less than 5 minutes. We start from the obvious: a relocalization network can be split in a scene-agnostic feature backbone, and a scene-specific prediction head. Less obvious: using an MLP prediction head allows us to optimize across thousands of view points simultaneously in each single training iteration. This leads to stable and extremely fast convergence. Furthermore, we substitute effective but slow end-to-end training using a robust pose solver with a curriculum over a reprojection loss. Our approach does not require privileged knowledge, such a depth maps or a 3D model, for speedy training. Overall, our approach is up to 300x faster in mapping than state-of-the-art scene coordinate regression, while keeping accuracy on par.

In most urban and suburban areas, pole-like structures such as tree trunks or utility poles are ubiquitous. These structural landmarks are very useful for the localization of autonomous vehicles given their geometrical locations in maps and measurements from sensors. In this work, we aim at creating an accurate map for autonomous vehicles or robots with pole-like structures as the dominant localization landmarks, hence called pole-map. In contrast to the previous pole-based mapping or localization methods, we exploit the semantics of pole-like structures. Specifically, semantic segmentation is achieved by a new mask-range transformer network in a mask-classfication paradigm. With the semantics extracted for the pole-like structures in each frame, a multi-layer semantic pole-map is created by aggregating the detected pole-like structures from all frames. Given the semantic pole-map, we propose a semantic particle-filtering localization scheme for vehicle localization. Theoretically, we have analyzed why the semantic information can benefit the particle-filter localization, and empirically it is validated on the public SemanticKITTI dataset that the particle-filtering localization with semantics achieves much better performance than the counterpart without semantics when each particle's odometry prediction and/or the online observation is subject to uncertainties at significant levels.

Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of such perception system especially for the sake of path planning, motion prediction, collision avoidance, etc. Generally, stereo or monocular images with corresponding 3D point clouds are already standard layout for 3D object detection, out of which point clouds are increasingly prevalent with accurate depth information being provided. Despite existing efforts, 3D object detection on point clouds is still in its infancy due to high sparseness and irregularity of point clouds by nature, misalignment view between camera view and LiDAR bird's eye of view for modality synergies, occlusions and scale variations at long distances, etc. Recently, profound progress has been made in 3D object detection, with a large body of literature being investigated to address this vision task. As such, we present a comprehensive review of the latest progress in this field covering all the main topics including sensors, fundamentals, and the recent state-of-the-art detection methods with their pros and cons. Furthermore, we introduce metrics and provide quantitative comparisons on popular public datasets. The avenues for future work are going to be judiciously identified after an in-deep analysis of the surveyed works. Finally, we conclude this paper.

This work addresses a novel and challenging problem of estimating the full 3D hand shape and pose from a single RGB image. Most current methods in 3D hand analysis from monocular RGB images only focus on estimating the 3D locations of hand keypoints, which cannot fully express the 3D shape of hand. In contrast, we propose a Graph Convolutional Neural Network (Graph CNN) based method to reconstruct a full 3D mesh of hand surface that contains richer information of both 3D hand shape and pose. To train networks with full supervision, we create a large-scale synthetic dataset containing both ground truth 3D meshes and 3D poses. When fine-tuning the networks on real-world datasets without 3D ground truth, we propose a weakly-supervised approach by leveraging the depth map as a weak supervision in training. Through extensive evaluations on our proposed new datasets and two public datasets, we show that our proposed method can produce accurate and reasonable 3D hand mesh, and can achieve superior 3D hand pose estimation accuracy when compared with state-of-the-art methods.

The task of detecting 3D objects in point cloud has a pivotal role in many real-world applications. However, 3D object detection performance is behind that of 2D object detection due to the lack of powerful 3D feature extraction methods. In order to address this issue, we propose to build a 3D backbone network to learn rich 3D feature maps by using sparse 3D CNN operations for 3D object detection in point cloud. The 3D backbone network can inherently learn 3D features from almost raw data without compressing point cloud into multiple 2D images and generate rich feature maps for object detection. The sparse 3D CNN takes full advantages of the sparsity in the 3D point cloud to accelerate computation and save memory, which makes the 3D backbone network achievable. Empirical experiments are conducted on the KITTI benchmark and results show that the proposed method can achieve state-of-the-art performance for 3D object detection.

Object tracking is challenging as target objects often undergo drastic appearance changes over time. Recently, adaptive correlation filters have been successfully applied to object tracking. However, tracking algorithms relying on highly adaptive correlation filters are prone to drift due to noisy updates. Moreover, as these algorithms do not maintain long-term memory of target appearance, they cannot recover from tracking failures caused by heavy occlusion or target disappearance in the camera view. In this paper, we propose to learn multiple adaptive correlation filters with both long-term and short-term memory of target appearance for robust object tracking. First, we learn a kernelized correlation filter with an aggressive learning rate for locating target objects precisely. We take into account the appropriate size of surrounding context and the feature representations. Second, we learn a correlation filter over a feature pyramid centered at the estimated target position for predicting scale changes. Third, we learn a complementary correlation filter with a conservative learning rate to maintain long-term memory of target appearance. We use the output responses of this long-term filter to determine if tracking failure occurs. In the case of tracking failures, we apply an incrementally learned detector to recover the target position in a sliding window fashion. Extensive experimental results on large-scale benchmark datasets demonstrate that the proposed algorithm performs favorably against the state-of-the-art methods in terms of efficiency, accuracy, and robustness.