Search Results for author: Peiliang Li

Found 9 papers, 4 papers with code

MonoJSG: Joint Semantic and Geometric Cost Volume for Monocular 3D Object Detection

1 code implementation CVPR 2022 Qing Lian, Peiliang Li, Xiaozhi Chen

Based on the object depth, the dense coordinates patch together with the corresponding object features is reprojected to the image space to build a cost volume in a joint semantic and geometric error manner.

Depth Estimation Monocular 3D Object Detection +1

Temporal Point Cloud Completion with Pose Disturbance

no code implementations7 Feb 2022 Jieqi Shi, Lingyun Xu, Peiliang Li, Xiaozhi Chen, Shaojie Shen

With the help of gated recovery units(GRU) and attention mechanisms as temporal units, we propose a point cloud completion framework that accepts a sequence of unaligned and sparse inputs, and outputs consistent and aligned point clouds.

Point Cloud Completion

Trajectory Prediction with Graph-based Dual-scale Context Fusion

1 code implementation2 Nov 2021 Lu Zhang, Peiliang Li, Jing Chen, Shaojie Shen

In this paper, we present a graph-based trajectory prediction network named the Dual Scale Predictor (DSP), which encodes both the static and dynamical driving context in a hierarchical manner.

Motion Forecasting motion prediction +1

Tracking from Patterns: Learning Corresponding Patterns in Point Clouds for 3D Object Tracking

no code implementations20 Oct 2020 Jieqi Shi, Peiliang Li, Shaojie Shen

A robust 3D object tracker which continuously tracks surrounding objects and estimates their trajectories is key for self-driving vehicles.

3D Object Tracking Motion Estimation +1

Joint Spatial-Temporal Optimization for Stereo 3D Object Tracking

no code implementations CVPR 2020 Peiliang Li, Jieqi Shi, Shaojie Shen

Directly learning multiple 3D objects motion from sequential images is difficult, while the geometric bundle adjustment lacks the ability to localize the invisible object centroid.

3D Object Tracking Object Tracking

Multi-Sensor 3D Object Box Refinement for Autonomous Driving

no code implementations11 Sep 2019 Peiliang Li, Si-Qi Liu, Shaojie Shen

We propose a 3D object detection system with multi-sensor refinement in the context of autonomous driving.

3D Object Detection Autonomous Driving +1

Stereo Vision-based Semantic 3D Object and Ego-motion Tracking for Autonomous Driving

no code implementations ECCV 2018 Peiliang Li, Tong Qin, Shaojie Shen

We propose a stereo vision-based approach for tracking the camera ego-motion and 3D semantic objects in dynamic autonomous driving scenarios.

Autonomous Driving Motion Estimation +2

VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator

11 code implementations13 Aug 2017 Tong Qin, Peiliang Li, Shaojie Shen

A monocular visual-inertial system (VINS), consisting of a camera and a low-cost inertial measurement unit (IMU), forms the minimum sensor suite for metric six degrees-of-freedom (DOF) state estimation.

Robotics

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