相关论文: Automated Evaluation of Semantic Segmentation Robu…

The confidence calibration of deep learning-based perception models plays a crucial role in their reliability. Especially in the context of autonomous driving, downstream tasks like prediction and planning depend on accurate confidence…

Simulation is essential to validate autonomous driving systems. However, a simple simulation, even for an extremely high number of simulated miles or hours, is not sufficient. We need well-founded criteria showing that simulation does…

This dissertation addresses visual scene understanding and enhances segmentation performance and generalization, training efficiency of networks, and holistic understanding. First, we investigate semantic segmentation in the context of…

Object detection and segmentation are two core modules of an autonomous vehicle perception system. They should have high efficiency and low latency while reducing computational complexity. Currently, the most commonly used algorithms are…

In autonomous racing, vehicles operate close to the limits of handling and a sensor failure can have critical consequences. To limit the impact of such failures, this paper presents the redundant perception and state estimation approaches…

Autonomous vehicles rely heavily upon their perception subsystems to see the environment in which they operate. Unfortunately, the effect of variable weather conditions presents a significant challenge to object detection algorithms, and…

Decision making in automated driving is highly specific to the environment and thus semantic segmentation plays a key role in recognizing the objects in the environment around the car. Pixel level classification once considered a…

Semantic segmentation allows autonomous driving cars to understand the surroundings of the vehicle comprehensively. However, it is also crucial for the model to detect obstacles that may jeopardize the safety of autonomous driving systems.…

In this paper, an automatic labelling process is presented for automotive datasets, leveraging on complementary information from LiDAR and camera. The generated labels are then used as ground truth with the corresponding 4D radar data as…

The usage of environment sensor models for virtual testing is a promising approach to reduce the testing effort of autonomous driving. However, in order to deduce any statements regarding the performance of an autonomous driving function…

Semantic Segmentation combines two sub-tasks: the identification of pixel-level image masks and the application of semantic labels to those masks. Recently, so-called Foundation Models have been introduced; general models trained on very…

This work investigates learning pixel-wise semantic image segmentation in urban scenes without any manual annotation, just from the raw non-curated data collected by cars which, equipped with cameras and LiDAR sensors, drive around a city.…

Autonomous robotic systems applied to new domains require an abundance of expensive, pixel-level dense labels to train robust semantic segmentation models under full supervision. This study proposes a model-agnostic Depth Edge Alignment…

Machine learning models are vulnerable to tiny adversarial input perturbations optimized to cause a very large output error. To measure this vulnerability, we need reliable methods that can find such adversarial perturbations. For image…

This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…

With the availability of many datasets tailored for autonomous driving in real-world urban scenes, semantic segmentation for urban driving scenes achieves significant progress. However, semantic segmentation for off-road, unstructured…

Achieving safe and reliable autonomous driving relies greatly on the ability to achieve an accurate and robust perception system; however, this cannot be fully realized without precisely calibrated sensors. Environmental and operational…

Image segmentation and depth estimation are crucial tasks in computer vision, especially in autonomous driving scenarios. Although these tasks are typically addressed separately, we propose an innovative approach to combine them in our…

In autonomous driving, the novel objects and lack of annotations challenge the traditional 3D LiDAR semantic segmentation based on deep learning. Few-shot learning is a feasible way to solve these issues. However, currently few-shot…

Shape and pose estimation is a critical perception problem for a self-driving car to fully understand its surrounding environment. One fundamental challenge in solving this problem is the incomplete sensor signal (e.g., LiDAR scans),…