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Integrating LiDAR and Camera information into Bird's-Eye-View (BEV) has become an essential topic for 3D object detection in autonomous driving. Existing methods mostly adopt an independent dual-branch framework to generate LiDAR and camera…

We study behavior change-based visual risk object identification (Visual-ROI), a critical framework designed to detect potential hazards for intelligent driving systems. Existing methods often show significant limitations in spatial…

Future trajectories of neighboring traffic agents have a significant influence on the path planning and decision-making of autonomous vehicles. While trajectory forecasting is a well-studied field, research mainly focuses on snapshot-based…

Traffic prediction is a challenging spatio-temporal forecasting problem that involves highly complex spatio-temporal correlations. This paper proposes a Multi-level Multi-view Augmented Spatio-temporal Transformer (LVSTformer) for traffic…

This technical report presents our solution, "occTransformer" for the 3D occupancy prediction track in the autonomous driving challenge at CVPR 2023. Our method builds upon the strong baseline BEVFormer and improves its performance through…

Place recognition is a key module for long-term SLAM systems. Current LiDAR-based place recognition methods usually use representations of point clouds such as unordered points or range images. These methods achieve high recall rates of…

Localization is one of the core parts of modern robotics. Classic localization methods typically follow the retrieve-then-register paradigm, achieving remarkable success. Recently, the emergence of end-to-end localization approaches has…

Vision-based Transformer have shown huge application in the perception module of autonomous driving in terms of predicting accurate 3D bounding boxes, owing to their strong capability in modeling long-range dependencies between the visual…

Effective BEV object detection on infrastructure can greatly improve traffic scenes understanding and vehicle-toinfrastructure (V2I) cooperative perception. However, cameras installed on infrastructure have various postures, and previous…

Empowered by transformer-based models, visual tracking has advanced significantly. However, the slow speed of current trackers limits their applicability on devices with constrained computational resources. To address this challenge, we…

In mixed autonomous driving environments, accurately predicting the future trajectories of surrounding vehicles is crucial for the safe operation of autonomous vehicles (AVs). In driving scenarios, a vehicle's trajectory is determined by…

Bird's Eye View (BEV) is a popular representation for processing 3D point clouds, and by its nature is fundamentally sparse. Motivated by the computational limitations of mobile robot platforms, we create a fast, high-performance BEV 3D…

In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in the current search point cloud given a template point cloud. Motivated by the success of transformers, we propose Point Tracking…

Audio-visual event parsing plays a crucial role in understanding multimodal video content, but existing methods typically rely on offline processing of entire videos with huge model sizes, limiting their real-time applicability. We…

Bird's-eye view (BEV) object detection has become important for advanced automotive 3D radar-based perception systems. However, the inherently sparse and non-deterministic nature of radar data limits the effectiveness of traditional…

End-to-end autonomous driving systems increasingly rely on vision-centric world models to understand and predict their environment. However, a common ineffectiveness in these models is the full reconstruction of future scenes, which expends…

Most recent transformer-based models show impressive performance on vision tasks, even better than Convolution Neural Networks (CNN). In this work, we present a novel, flexible, and effective transformer-based model for high-quality…

Driver intention prediction seeks to anticipate drivers' actions by analyzing their behaviors with respect to surrounding traffic environments. Existing approaches primarily focus on late-fusion techniques, and neglect the importance of…

The ability to predict the future movements of other vehicles is a subconscious and effortless skill for humans and key to safe autonomous driving. Therefore, trajectory prediction for autonomous cars has gained a lot of attention in recent…

Autonomous driving requires an understanding of the static environment from sensor data. Learned Bird's-Eye View (BEV) encoders are commonly used to fuse multiple inputs, and a vector decoder predicts a vectorized map representation from…