Julian Kooij - Research

I am an Associate Professor at the Intelligent Vehicles group, part of the Cognitive Robotics department of the Mechanical Engineering faculty, TU Delft, The Netherlands. You can find my staff page on the TU Delft website.

I work on multi-modal environment perception for intelligent vehicles, and mostly target crowded urban settings. My research applies deep learning and probabilistic models to automatically detect objects and predict traffic situations from multi-modal data, collected with on-vehicle sensors. Most of my research therefore relates to Computer Vision, but also addresses other sensing modalities, such as Lidar, Radar and Acoustics. To understand the environment, the autonomous vehicle needs to create useful representations of its environment, detect and identify dynamic and static obstacles, self-localize itself, and using all sensor information to anticipate future events. Applications include anticipating Vulnerable Road User (VRU) behaviour, path prediction, self-localizing the vehicle using satellite images, and fusing 3D depth and 2D image data for improved object detection.

Publications

You can find an up-to-date list on my Google Scholar profile.
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2024

• A Deep Automotive Radar Detector using the RaDelft Dataset, I. Roldan, A. Palffy, J.F.P. Kooij, D.M. Gavrila, F. Fioranelli, A. Yaravoy, IEEE Transactions on Radar Systems, 2024. to appear
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• Adapting Fine-grained Cross-view Localization to Areas without Fine Ground Truth, Z. Xia, Y. Shi, H. Li, J.F.P. Kooij, European Conference on Computer Vision (ECCV), 2024.
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• On the Estimation of Image-matching Uncertainty in Visual Place Recognition, M. Zaffar, L. Nan, J.F.P. Kooij, Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 17743-17753, 2024. *Poster Highlight* (top 15% of accepted papers)
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• Convolutional Cross-View Pose Estimation, Z. Xia, O. Booij, J.F.P. Kooij, IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 46(5), pp. 3813-3831, 2024. doi: 10.1109/TPAMI.2023.3346924
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• UniBEV: Multi-modal 3D Object Detection with Uniform BEV Encoders for Robustness against Missing Sensor Modalities, S. Wang, H. Caesar, L. Nan, J.F.P. Kooij, IEEE Intelligent Vehicles Symposium (IVS), 2024.
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• Multi-Class Trajectory Prediction in Urban Traffic Using the View-of-Delft Prediction Dataset, H. Boekema, B. Martens, J.F.P. Kooij, D.M. Gavrila, IEEE Robotics and Automation Letters (RA-L), 9(5), pp. 4806-4813, 2024. doi: 10.1109/LRA.2024.3385693
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• Adaptive Cruise Control Utilizing Noisy Multi-leader Measurements: A Learning-based Approach, Y. Ni, V.L. Knoop, J.F.P. Kooij, B. van Arem, IEEE Open Journal of Intelligent Transportation Systems, 5, pp. 251-264, 2024. doi: 10.1109/OJITS.2024.3395149
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• See further than CFAR: A data-driven radar detector trained by Lidar, I. Roldan, A. Palffy, J.F.P. Kooij, D.M. Gavrila, F. Fioranelli, A. Yaravoy, IEEE Radar Conference, 2024. *received Best Student Paper award*
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• MuVieCAST: Multi-View Consistent Artistic Style Transfer, N. Ibrahimli, J.F.P. Kooij, L. Nan, IEEE International Conference on 3D Vision (3DV), 2024. to appear
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2023

• DDL-MVS: Depth Discontinuity Learning for Multi-View Stereo Networks, N. Ibrahimli, H. Ledoux, J.F.P. Kooij, L. Nan, Remote Sensing, 15, pp. 2970, 2023. doi: 10.3390/rs15122970
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• SliceMatch: Geometry-guided Aggregation for Cross-View Pose Estimation, T. Lentsch, Z. Xia, H. Caesar, J.F.P. Kooij, Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 17225-17234, 2023.
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• CoPR: Toward Accurate Visual Localization With Continuous Place-descriptor Regression, M. Zaffar, L. Nan, J.F.P. Kooij, IEEE Transactions on Robotics (T-RO), 39(4), pp. 2825-2841, 2023. doi: 10.1109/TRO.2023.3262106
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• How Informative is the Approximation Error from Tensor Decomposition for Neural Network Compression?, J. Schuurmans, K. Batselier, J.F.P. Kooij, International Conference on Learning Representations (ICLR), 2023. doi: 10.48550/arXiv.2305.05318
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• Detecting darting out pedestrians with occlusion aware sensor fusion of radar and stereo camera, A. Palffy, J.F.P. Kooij, D.M. Gavrila, IEEE Transactions on Intelligent Vehicles (T-IV), 8(2), pp. 1459-1472, 2023. doi: 10.1109/TIV.2022.3220435
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2022

• Push-the-Boundary: Boundary-aware Feature Propagation for Semantic Segmentation of 3D Point Clouds, S. Du, N. Ibrahimli, J. Stoter, J. Kooij, L. Nan, IEEE International Conference on 3D Vision (3DV), 2022.
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• Visual Cross-View Metric Localization with Dense Uncertainty Estimates, Z. Xia, O. Booij, M. Manfredi, J.F.P. Kooij, European Conference on Computer Vision (ECCV), pp. 90-106, 2022. doi: 10.1007/978-3-031-19842-7_6
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• Multi-class Road User Detection with 3+1D Radar in the View-of-Delft Dataset, A. Palffy, E.A.I. Pool, S. Baratam, J.F.P. Kooij, D.M. Gavrila, IEEE Robotics and Automation Letters (RA-L), 7(2), pp. 4961-4968, 2022. doi: 10.1109/LRA.2022.3147324 presented at IEEE ICRA 2022
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• BackboneAnalysis: Structured Insights into Compute Platforms from CNN Inference Latency, F.M. Hafner, M. Zeller, M. Schutera, J. Abhau, J.F.P. Kooij, IEEE Intelligent Vehicles Symposium (IVS), pp. 1801-1809, 2022. doi: 10.1109/IV51971.2022.9827260
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• Cross-modal distillation for RGB-depth person re-identification, F. M. Hafner, A. Bhuyian, J.F.P. Kooij, E. Granger, Computer Vision and Image Understanding (CVIU), 216, pp. 103352, 2022. doi: 10.1016/j.cviu.2021.103352
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2021

• Occupancy Grid Mapping with Cognitive Plausibility for Autonomous Driving Applications, A. Plebe, J.F.P. Kooij, G.P.R. Papini, M. Da Lio, Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV) Workshops, pp. 2934-2941, 2021.
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• Cross-View Matching for Vehicle Localization by Learning Geographically Local Representations, Z. Xia, O. Booij, M. Manfredi, J.F.P. Kooij, IEEE Robotics and Automation Letters (RA-L), 6(3), pp. 5921-5928, 2021. doi: 10.1109/LRA.2021.3088076
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• VPR-Bench: An Open-Source Visual Place Recognition Evaluation Framework with Quantifiable Viewpoint and Appearance Change, M. Zaffar, S. Garg, M. Milford, J. Kooij, D. Flynn, K. McDonald-Maier, S. Ehsan, International Journal of Computer Vision (IJCV), 2021. doi: 10.1007/s11263-021-01469-5
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• Fast and Compact Image Segmentation using Instance Stixels, T.H. Hehn, J.F.P. Kooij, D.M. Gavrila, IEEE Transactions on Intelligent Vehicles (T-IV), 7(1), pp. 45-46, 2021. doi: 10.1109/TIV.2021.3067223
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• Crafted vs. Learned Representations in Predictive Models - A Case Study on Cyclist Path Prediction, E.A.I. Pool, J.F.P.Kooij, D.M. Gavrila, IEEE Transactions on Intelligent Vehicles (T-IV), 6(4), pp. 747-759, 2021. doi: 10.1109/TIV.2021.3064253
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• Hearing What You Cannot See: Acoustic Vehicle Detection Around Corners, Y. Schulz, A.K. Mattar, T.M. Hehn, J.F.P. Kooij, IEEE Robotics and Automation Letters (RA-L), 6(2), pp. 2587-2594, 2021. doi: 10.1109/LRA.2021.3062254 presented at IEEE ICRA 2021
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• A Joint Extrinsic Calibration Tool for Radar, Camera and Lidar, J. Domhof, J. Kooij, D. Gavrila, IEEE Transactions on Intelligent Vehicles (T-IV), 6(3), pp. 571-582, 2021. doi: 10.1109/TIV.2021.3065208
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2020

• Geographically Local Representation Learning with a Spatial Prior for Visual Localization, Z. Xia, O. Booij, M. Manfredi, J.F.P. Kooij, ECCV 2020 Workshops, 2020. doi: 10.1007/978-3-030-66096-3_38
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• CNN based Road User Detection using the 3D Radar Cube, A. Palffy, J. Dong, J.F.P. Kooij, D.M. Gavrila, IEEE Robotics and Automation Letters (RA-L), 5(2), pp. 1263-1270, 2020. doi: 10.1109/LRA.2020.2967272 presented at IEEE ICRA 2020
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• End-to-End Learning of Decision Trees and Forests, T.M. Hehn, J.F.P. Kooij, F.A. Hamprecht, International Journal of Computer Vision (IJCV), 128, pp. 997-1011, 2020. doi: 10.1007/s11263-019-01237-6
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2019

• RGB-Depth Cross-Modal Person Re-identification, F.M. Hafner, A. Bhuiyan, J.F.P. Kooij, E. Granger, IEEE International Conference on Advanced Video and Signal-based Surveillance (AVSS), pp. 1-8, 2019. doi: 10.1109/AVSS.2019.8909838 oral
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• Context-Based Cyclist Path Prediction Using Recurrent Neural Networks, E.A.I. Pool, J.F.P. Kooij, D.M. Gavrila, IEEE Intelligent Vehicles Symposium (IVS), pp. 824-830, 2019. doi: 10.1109/IVS.2019.8813889 oral
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• SafeVRU: A Research Platform for the Interaction of Self-Driving Vehicles with Vulnerable Road Users, L. Ferranti, B. Brito, E.A.I. Pool, Y. Zhang, R.M. Ensing, R. Happee, B. Shyrokau, J.F.P. Kooij, J. Alonso-Mora, D.M. Gavrila, IEEE Intelligent Vehicles Symposium (IVS), pp. 1660-1666, 2019. doi: 10.1109/IVS.2019.8813899
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• Instance Stixels: Segmenting and Grouping Stixels into Objects, T.H. Hehn, J.F.P. Kooij, D.M. Gavrila, IEEE Intelligent Vehicles Symposium (IVS), pp. 2542-2549, 2019. doi: 10.1109/IVS.2019.8814243
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• Occlusion Aware Sensor Fusion for Early Crossing Pedestrian Detection, A. Palffy, J.F.P. Kooij, D.M. Gavrila, IEEE Intelligent Vehicles Symposium (IVS), pp. 1768-1774, 2019. doi: 10.1109/IVS.2019.8814065
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• An Extrinsic Calibration Tool for Lidar, Camera and Radar, J. Domhof, J.F.P. Kooij, D.M. Gavrila, IEEE International Conference on Robotics and Automation (ICRA), pp. 8107-8113, 2019. doi: 10.1109/ICRA.2019.8794186
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2018

• Context-Based Path Prediction for Targets with Switching Dynamics, J.F.P. Kooij, F. Flohr, E.A.I. Pool, D.M. Gavrila, International Journal of Computer Vision (IJCV), 2018. doi: 10.1007/s11263-018-1104-4
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2017

• Using road topology to improve cyclist path prediction, E.A.I. Pool, J.F.P. Kooij, D.M. Gavrila, IEEE Intelligent Vehicles Symposium (IVS), pp. 289-296, 2017. doi: 10.1109/IVS.2017.7995734
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2016

• Depth-aware motion magnification, J.F.P. Kooij, J.C. van Gemert, European Conference on Computer Vision (ECCV), pp. 467-482, 2016. doi: 10.1007/978-3-319-46484-8_28
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• SenseCap: synchronized data collection with Microsoft Kinect2 and LeapMotion, J.F.P. Kooij, Proceedings of the 2016 ACM on Multimedia Conference, pp. 1218-1221, 2016. doi: 10.1145/2964284.2973805
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• Multi-modal human aggression detection, J.F.P. Kooij, M.C. Liem, J.D. Krijnders, T.C. Andringa, Computer Vision and Image Understanding (CVIU), 144, pp. 106-120, 2016. doi: 10.1016/j.cviu.2015.06.009
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• Mixture of switching linear dynamics to discover behavior patterns in object tracks, J.F.P. Kooij, G. Englebienne, D.M. Gavrila, IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 38(2), pp. 322-334, 2016. doi: 10.1109/TPAMI.2015.2443801
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2015

• A probabilistic framework for joint pedestrian head and body orientation estimation, F. Flohr, M. Dumitru-Guzu, JFP Kooij, IEEE Transactions on Intelligent Transportation Systems (T-ITS), 16(4), pp. 1872-1882, 2015. doi: 10.1109/TITS.2014.2379441
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• Identifying multiple objects from their appearance in inaccurate detections, J.F.P. Kooij, G. Englebienne, D.M. Gavrila, Computer Vision and Image Understanding (CVIU), 136, pp. 103-116, 2015. doi: 10.1016/j.cviu.2015.03.012
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2014

• Context-based pedestrian path prediction, J.F.P. Kooij, N. Schneider, F. Flohr, D.M. Gavrila, European Conference on Computer Vision (ECCV), pp. 618-633, 2014. doi: 10.1007/978-3-319-10599-4_40
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• Joint probabilistic pedestrian head and body orientation estimation, F. Flohr, M. Dumitru-Guzu, J.F.P. Kooij, D.M. Gavrila, IEEE Intelligent Vehicles Symposium (IVS), pp. 617-622, 2014. doi: 10.1109/IVS.2014.6856532
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• Analysis of pedestrian dynamics from a vehicle perspective, J.F.P. Kooij, N. Schneider, D.M. Gavrila, IEEE Intelligent Vehicles Symposium (IVS), pp. 1445-1450, 2014. doi: 10.1109/IVS.2014.6856505
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2012

• A Non-parametric Hierarchical Model to Discover Behavior Dynamics from Tracks, J.F.P. Kooij, G. Englebienne, D.M. Gavrila, Proceedings of the European Conference on Computer Vision (ECCV), pp. 270-283, 2012. doi: 10.1007/978-3-642-33783-3_20
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2008

• The cross-entropy method for policy search in decentralized POMDPs, F.A. Oliehoek, J.F.P. Kooij, N. Vlassis, Informatica, 32(4), pp. 341-357, 2008.
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• A cross-entropy approach to solving Dec-POMDPs, F.A. Oliehoek, J.F.P. Kooij, N. Vlassis, Advances in Intelligent and Distributed Computing, pp. 145-154, 2008. doi: 10.1007/978-3-540-74930-1_15
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