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Publications

See Prof. Waslander's Google Scholar page for more complete listings and previously published work.

2024

Multiple View Geometry Transformers for 3D Human Pose Estimation

Ziwei Liao, Jialiang Zhu, Chunyu Wang, Han Hu, Steven L Waslander

Proceedings of the IEEE conference on computer vision and pattern recognition (CVPR), 2024.

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SmartRefine: A Scenario-Adaptive Refinement Framework for Efficient Motion Prediction

Yang Zhou, Hao Shao, Letian Wang, Steven L Waslander, Hongsheng Li, Yu Liu

Proceedings of the IEEE conference on computer vision and pattern recognition (CVPR), 2024.

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Uncertainty-aware 3D Object-Level Mapping with Deep Shape Priors

Ziwei Liao*, Jun Yang*, Jingxing Qian*, Angela P Schoellig, Steven L Waslander

International Conference on Robotics and Automation (ICRA), 2024

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SWTrack: Multiple Hypothesis Sliding Window 3D Multi-Object Tracking

Sandro Papais, Robert Ren, Steven L Waslander

International Conference on Robotics and Automation (ICRA), 2024

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UncertaintyTrack: Exploiting Detection and Localization Uncertainty in Multi-Object Tracking

Chang Won Lee, Steven L. Waslander

International Conference on Robotics and Automation (ICRA), 2024

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2023

Active Pose Refinement for Textureless Shiny Objects using the Structured Light Camera

Jun Yang, Jian Yao, Steven L Waslander

IEEE Sensors Journal, submitted, 2024

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Multi-view 3D Object Reconstruction and Uncertainty Modelling with Neural Shape Prior

Ziwei Liao, Steven L Waslander

Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2024

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Efficient Reinforcement Learning for Autonomous Driving with Parameterized Skills and Priors

Letian Wang, Jie Liu, Hao Shao, Wenshuo Wang, Ruobing Chen, Yu Liu, Steven L Waslander

Robotics: Science and Systems (RSS), 2023

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POV-SLAM: Probabilistic Object-Aware Variational SLAM in Semi-Static Environments

Jingxing Qian, Veronica Chatrath, James Servos, Aaron Mavrinac, Wolfram Burgard, Steven L Waslander, Angela P Schoellig

Robotics: Science and Systems (RSS), 2023

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Self-Supervised Image-to-Point Distillation via Semantically Tolerant Contrastive Loss

Anas Mahmoud, Jordan SK Hu, Tianshu Kuai, Ali Harakeh, Liam Paull, Steven L Waslander

Proceedings of the IEEE conference on computer vision and pattern recognition (CVPR), 2023.

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ReasonNet: End-to-End Driving with Temporal and Global Reasoning

Hao Shao, Letian Wang, Ruobing Chen, Steven Waslander, Hongsheng Li, Yu Liu

Proceedings of the IEEE conference on computer vision and pattern recognition (CVPR), 2023.

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ProPanDL: A Modular Architecture for Uncertainty-Aware Panoptic Segmentation

Jacob Deery, Chang Won Lee, Steven Waslander

20th Conference on Robots and Vision (CRV). IEEE, 2023.

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Gradient-based Maximally Interfered Retrieval for Domain Adaptive 3D Object Detection

Barza Nisar, Hruday Vishal Kanna Anand, Steven L. Waslander

20th Conference on Robots and Vision (CRV). IEEE, 2023.

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HyperMODEST: Self-Supervised 3D Object Detection with Confidence Score Filtering

Jenny Xu, Steven L. Waslander

20th Conference on Robots and Vision (CRV). IEEE, 2023.

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Next-Best-View Selection for Robot Eye-in-Hand Calibration

Jun Yang, Jason Rebello, Steven L Waslander

20th Conference on Robots and Vision (CRV). IEEE, 2023.

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Intertrack: Interaction transformer for 3d multi-object tracking

J Willes, C Reading, SL Waslander

20th Conference on Robots and Vision (CRV). IEEE, 2023.

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aUToLights: A Robust Multi-Camera Traffic Light Detection and Tracking System

Sean Wu, Nicole Amenta, Jiachen (Jason) Zhou, Sandro Papais and Jonathan Kelly

20th Conference on Robots and Vision (CRV). IEEE, 2023.

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6D Pose Estimation for Textureless Objects on RGB Frames using Multi-View Optimization

Jun Yang, Wenjie Xue, Sahar Ghavidel, and Steven L. Waslander

International Conference on Robotics and Automation (ICRA), 2023.

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Estimating Regression Predictive Distributions with Sample Networks

Ali Harakeh, Jordan Hu, Naiqing Guan, Steven L. Waslander, and Liam Paull

 In Proceedings of the AAAI Conference on Artificial Intelligence, 2023.

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Dense Voxel Fusion for 3D Object Detection

Anas Mahmoud, and Steven L. Waslander

Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision, 2023.

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2022

Bayesian Embeddings for Few-Shot Open World Recognition

Willes, John, James Harrison, Ali Harakeh, Chelsea Finn, Marco Pavone, and Steven Waslander

IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 2022.

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Temporal convolutions for multi-step quadrotor motion prediction

Looper, Samuel, and Steven L. Waslander

19th Conference on Robots and Vision (CRV), pp. 32-39. IEEE, 2022.

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POCD: Probabilistic Object-Level Change Detection and Volumetric Mapping in Semi-Static Scenes

Jingxing Qian, Veronica Chatrath, Jun Yang, James Servos, Angela P Schoellig, Steven L Waslander

Robotics: Science and Systems. 2022.

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Next-Best-View Prediction for Active Stereo Cameras and Highly Reflective Objects

Jun Yang, and Steven L. Waslander

International Conference on Robotics and Automation (ICRA), 2022.

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Point Density-Aware Voxels for LiDAR 3D Object Detection

Jordan SK Hu, and Steven L. Waslander

Proceedings of the IEEE conference on computer vision and pattern recognition (CVPR), 2022.

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LiDAR-MIMO: Efficient Uncertainty Estimation for LiDAR-based 3D Object Detection

Matthew Pitropov, Chengjie Huang, Vahdat Abdelzad, Krzysztof Czarnecki, and Steven Waslander

arXiv preprint arXiv:2206.00214.

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Accurate Prediction and Uncertainty Estimation using Decoupled Prediction Interval Networks

Kinjal Patel, and Steven L. Waslander

arXiv preprint arXiv:2202.09664, 2022.

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2021

DC-VINS: Dynamic Camera Visual Inertial Navigation System With Online Calibration

Jason Rebello, Chunshang Li, and Steven L. Waslander

Proceedings of the IEEE/CVF International Conference on Computer Vision Workshop (ICCVW), 2021.

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UrbanNet: Leveraging Urban Maps for Long Range 3D Object Detection

Juan Carrillo, and Steven L. Waslander

IEEE International Intelligent Transportation Systems Conference (ITSC), 2021.

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Pattern-Aware Data Augmentation for LiDAR 3D Object Detection

Jordan SK Hu, and Steven L. Waslander

IEEE International Intelligent Transportation Systems Conference (ITSC), 2021.

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Sequential Fusion via Bounding Box and Motion PointPainting for 3D Objection Detection

Anas Mahmoud, and Steven L. Waslander

IEEE Conference on Robots and Vision (CRV, Best Paper), 2021.

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A review and comparative study on probabilistic object detection in autonomous driving

Di Feng, Ali Harakeh, Steven L. Waslander, Klaus Dietmayer

IEEE Transactions on Intelligent Transportation Systems (T-ITS), 2021.

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ROBI: A Multi-View Dataset for Reflective Objects in Robotic Bin-Picking

Jun Yang, Yizhou Gao, Dong Li, and Steven L. Waslander

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.

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Categorical Depth Distribution Network for Monocular 3D Object Detection

Cody Reading, Ali Harakeh, Julia Chae, and Steven L. Waslander

Proceedings of the IEEE conference on computer vision and pattern recognition (CVPR Oral), 2021.

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Estimating and Evaluating Regression Predictive Uncertainty in Deep Object Detectors

Ali Harakeh, Steven L. Waslander

International Conference on Learning Representations (ICLR), 2021.

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Uncertainty-Constrained Differential Dynamic Programming in Belief Space for Vision Based Robots

Shatil Rahman, and Steven L. Waslander

IEEE Robotics and Automation Letters (RA-L), 2021 ​

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Probabilistic Multi-View Fusion of Active Stereo Depth Maps for Robotic Bin-Picking

Jun Yang, Dong Li, and Steven L. Waslander

IEEE Robotics and Automation Letters (RA-L), 2021 ​

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Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching

Justin Tomasi , Brandon Wagstaff , Steven L. Waslander, and Jonathan Kelly

IEEE Robotics and Automation Letters (RA-L), 2021 ​

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Canadian adverse driving conditions dataset

Matthew Pitropov, Danson Evan Garcia, Jason Rebello, Michael Smart, Carlos Wang, Krzysztof Czarnecki, Steven L. Waslander

The International Journal of Robotics Research (IJRR), 2021 ​

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2020

Making Sense of the Robotized Pandemic Response: A Comparison of Global and Canadian Robot Deployments and Success Factors

T Barfoot, J Burgner-Kahrs, E Diller, A Garg, A Goldenberg, J Kelly, X Liu, HE Naguib, G Nejat, AP Schoellig, F Shkurti, H Siegel, Y Sun, SL Waslander

arXiv preprint arXiv:2009.08577, 2020.

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Towards End-to-end Learning of Visual Inertial Odometry with an EKF

Chunshang Li and S.L. Waslander

Conference on Computer and Robot Vision (CRV), 2020

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Leveraging Temporal Data for Automatic Labelling of Static Vehicles

Sean Walsh, Jason Ku, Alex D. Pon and S.L. Waslander

Conference on Computer and Robot Vision (CRV), 2020

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Feedback Linearizing Controllers on SO (3) using a Global Parametrization

Akhtar, Adeel, Sajid Saleem, and Steven L. Waslander

American Control Conference (ACC), 2020

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Vehicle Scheduling Problem

Gharibi, Mirmojtaba, Steven L. Waslander, and Raouf Boutaba

IEEE Transactions on Intelligent Transportation Systems (Submitted), 2020.

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Confidence Guided Stereo 3D Object Detection with Split Depth Estimation

Chengyao Li, Jason Ku, Steven L. Waslander

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020

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3D traffic flow model for UAVs

Gharibi, Mirmojtaba, Raouf Boutaba, and Steven L. Waslander

IEEE Transactions on Intelligent Transportation Systems (Submitted), 2020.

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Controller Class for Rigid Body Tracking on SO (3)

Akhtar, Adeel, and Steven Waslander

IEEE Transactions on Automatic Control, 2020.

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An end-to-end shape modeling framework for vectorized building outline generation from aerial images

Chen, Qi and Wang, Lei and Waslander, Steven L and Liu, Xiuguo

ISPRS Journal of Photogrammetry and Remote Sensing, 2020.

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Path Following for a Class of Underactuated Systems Using Global Parameterization

Akhtar, Adeel, Sajid Saleem, and Steven L. Waslander

IEEE Access, 2020.

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Bayesod: A bayesian approach for uncertainty estimation in deep object detectors

A. Harakeh, M. Smart, and S. L. Waslander

International Conference on Robotics and Automation (ICRA), 2020

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Object-Centric Stereo Matching for 3D Object Detection

A.D. Pon, J. Ku, C. Li, S.L. Waslander

International Conference on Robotics and Automation (ICRA), 2020

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AC/DCC : Accurate Calibration of Dynamic Camera Clusters for Visual SLAM

J. Rebello, A. Fung, and S.L. Waslander

International Conference on Robotics and Automation (ICRA), 2020

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TruPercept: Trust Modelling for Autonomous Vehicle Cooperative Perception from Synthetic Data

B. Hurl, R. Cohen, K. Czarnecki, S. L. Waslander

Intelligent Vehicles Conference, 2020

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2019

Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstruction

J. Ku*, A. D. Pon*, and S. L. Waslander

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2019.

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aUToTrack: A Lightweight Object Detection and Tracking System for the SAE AutoDrive Challenge

K. Burnett, S. Samavi, S. L. Waslander, T. D. Barfoot, A. P. Schoellig

Conference on Computer and Robot Vision (CRV), 2019 ​

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Automated Bridge Inspection Using Mobile Ground Robotics

N. Charron, E. McLaughlin, S. Phillips, K. Goorts, S. Narasimhan, S. L. Waslander

Journal of Structural Engineering, 2019

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Multistep prediction of dynamic systems with recurrent neural networks

N. Mohajerin and S. L. Waslander

IEEE Transactions on Neural Networks and Learning Systems, 2019

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Aerial imagery for roof segmentation: A large-scale dataset towards automatic mapping of buildings

Q. Chen, L. Wang, Y. Wu, G. Wu, Z. Guo, and S. L. Waslander

ISPRS Journal of Photogrammetry and Remote Sensing, 2019

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Visual Measurement Integrity Monitoring for UAV Localization

C.Li, S.L. Waslander

IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2019

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Improving 3D Object Detection for Pedestrians with Virtual Multi-View Synthesis Orientation Estimation

J. Ku, A. D. Pon, S. Walsh, and S. L. Waslander

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019

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Precise Synthetic Image and LiDAR (PreSIL) Dataset for Autonomous Vehicle Perception

B. Hurl,  K. Czarnecki, S. Waslander

IEEE Intelligent Vehicles Symposium (IV), 2019

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Network uncertainty informed semantic feature selection for visual SLAM

P. Ganti and S. L. Waslander

Conference on Computer and Robot Vision (CRV), 2019

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Map-aided adaptive GNSS/IMU sensor fusion scheme for robust urban navigation

Mohamed M. Atia, and S. L. Waslander

Measurement, 2019

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2018

Unlimited road-scene synthetic annotation (URSA) dataset

M. Angus, M. El Balkini, S. Khan, A. Harakeh, O. Andrienko, C. Reading, S. L. Waslander, and K. Czarnecki

International Conference on Intelligent Transportation Systems (ITSC), 2018 ​

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Leveraging pre-trained 3d object detection models for fast ground truth generation

J. Lee, S. Walsh, A. Harakeh, and S. L. Waslander

International Conference on Intelligent Transportation Systems (ITSC), 2018 ​

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Speed planning for autonomous driving via convex optimisation

Y. Zhang, H. Chen, S. Waslander, T. Yang, S. Zhang, G. Xiong, and K. Liu

International Conference on Intelligent Transportation Systems (ITSC), 2018 ​

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Hybrid trajectory planning for autonomous driving in highly constrained environments

Y. Zhang, H.-Y. Chen, S. L. Waslander, J.-W. Gong, G.-M. Xiong, T. Yang, and K. Liu

IEEE Access, vol. 6, pp. 32 800–32 819, 2018

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Joint 3d proposal generation and object detection from view aggregation

J. Ku, M. Mozifian, J. Lee, A. Harakeh, and S. L. Waslander

International Conference on Intelligent Robots and Systems (IROS), 2018

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De-noising of lidar point clouds corrupted by snowfall

N. Charron, S. Phillips, and S. L. Waslander

Conference on Computer and Robot Vision (CRV), 2018.

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Encoderless gimbal calibration of dynamic multi-camera clusters

C. L. Choi, J. Rebello, L. Koppel, P. Ganti, A. Das, and S. L. Waslander

International Conference on Robotics and Automation (ICRA), 2018 ​

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Manifold geometry with fast automatic derivatives and coordinate frame semantics checking in c++

L. Koppel and S. L. Waslander

Conference on Computer and Robot Vision (CRV, Best Paper), 2018.

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In defense of classical image processing: Fast depth completion on the cpu

J. Ku, A. Harakeh, and S. L. Waslander

Conference on Computer and Robot Vision (CRV), 2018

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Deep learning a quadrotor dynamic model for multi-step prediction

N. Mohajerin, M. Mozifian, and S. L. Waslander

International Conference on Robotics and Automation (ICRA), 2018

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A hierarchical deep architecture and mini-batch selection method for joint traffic sign and light detection

A. Pon, O. Andrienko, A. Harakeh, and S. L. Waslander

Conference on Computer and Robot Vision (CRV), 2018 ​

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