An open visual-inertial mapping framework: maplab

This repository contains maplab, an open, research-oriented visual-inertial mapping framework, written in C++, for creating, processing and manipulating multi-session maps. On the one hand, maplab can be considered as a ready-to-use visual-inertial mapping and localization system. On the other hand, maplab provides the research community with a collection of multi-session mapping tools that include map merging, visual-inertial batch optimization, and loop closure. Furthermore, it includes an online frontend, ROVIOLI, that can create visual-inertial maps and also track a global drift-free pose within a localization map. https://github.com/ethz-asl/maplab

Motion Prediction Influence on the Pedestrian Intention Estimation Near a Zebra Crossing

J. Škovierová, A. Vobecký, M. Uller, R. Škoviera, V. Hlaváč 4th International Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS 2018) The reported work contributes to the self-driving car efforts, more specifically to scenario understanding from the ego-car point of view. We focus on estimating the intentions of pedestrians near a zebra crossing. First,we predict the future motion of detected pedestrians in a three seconds time horizon. Second, we estimate the intention of each pedestrian to cross the street using a Bayesian network. Results indicate, that the dependence between the error rate of motion prediction and the intention estimation...

Robust Maximum-likelihood On-Line LiDAR-to-Camera Calibration Monitoring and Refinement

J. Moravec, R. Sara Proceedings of the 23rd Computer Vision Winter Workshop, Cesky Krumlov, Czech Republic, pp. 27-35. February 5-7, 2018. We present a novel method for online LiDAR–Camera system calibration tracking and refinement.  The method is correspondence-free, formulated as a maximum-likelihood learning task. It is based on a consistency of projected LiDAR point cloud corners and optical image edges. The likelihood function is robustified using a model in which the inlier /outlier label for the image edge pixel is marginalized out. The learning is performed by a stochastic on-line algorithm that includes a delayed learning mechanism improving its stability....

Real-time Semantic Segmentation-based Depth Upsampling using Deep Learning

V. Miclea, S. Nedevschi Proceedings of 2018 IEEE Intelligent Vehicles Symposium (IV), Changshu, 2018, pp. 300-306. We propose a new real-time depth upsampling method based on convolutional neural networks (CNNs) that uses the local context provided by semantic information. Two solutions based on convolutional networks are introduced, modeled according to the level of sparsity given by the depth sensor. While first CNN upsamples data from a partial-dense input, the second one uses dilated convolutions as means to cope with sparse inputs from cost-effective depth sensors. Experiments over data extracted from Kitti dataset highlight the performance of our methods while running...

Multi-Object tracking of 3D cuboids using aggregated features

M.P. Muresan, S. Nedevschi Proceedings of 2019 15th IEEE International Conference on Intelligent Computer Communication and Processing (ICCP), Cluj-Napoca, Romania, September 5-7, 2019, pp. 11-18. The unknown correspondences of measurements and targets, referred to as data association, is one of the main challenges of multi-target tracking. Each new measurement received could be the continuation of some previously detected target, the first detection of a new target or a false alarm. Tracking 3D cuboids, is particularly difficult due to the high amount of data, which can include erroneous or noisy information coming from sensors, that can lead to false measurements, detections...