相关论文: Multimodal End-to-End Autonomous Driving

Developing effective path representations has become increasingly essential across various fields within intelligent transportation. Although pre-trained path representation learning models have shown improved performance, they…

The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…

Convolutional Neural Networks (CNN) have been successfully applied to autonomous driving tasks, many in an end-to-end manner. Previous end-to-end steering control methods take an image or an image sequence as the input and directly predict…

In recent years, multi-modal fusion has attracted a lot of research interest, both in academia, and in industry. Multimodal fusion entails the combination of information from a set of different types of sensors. Exploiting complementary…

The safety of an automated vehicle hinges crucially upon the accuracy of perception and decision-making latency. Under these stringent requirements, future automated cars are usually equipped with multi-modal sensors such as cameras and…

Contemporary autonomous vehicle (AV) benchmarks have advanced techniques for training 3D detectors. While class labels naturally follow a long-tailed distribution in the real world, existing benchmarks only focus on a few common classes…

We present a novel multi-modal extrinsic calibration framework designed to simultaneously estimate the relative poses between event cameras, LiDARs, and RGB cameras, with particular focus on the challenging event camera calibration. Core of…

Autonomous Vehicle (AV) systems have been developed with a strong reliance on machine learning techniques. While machine learning approaches, such as deep learning, are extremely effective at tasks that involve observation and…

Imitation learning is becoming more and more successful for autonomous driving. End-to-end (raw signal to command) performs well on relatively simple tasks (lane keeping and navigation). Mid-to-mid (environment abstraction to mid-level…

The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

Audio-visual embodied navigation, as a hot research topic, aims training a robot to reach an audio target using egocentric visual (from the sensors mounted on the robot) and audio (emitted from the target) input. The audio-visual…

Autonomous driving is complex, requiring sophisticated 3D scene understanding, localization, mapping, and control. Rather than explicitly modelling and fusing each of these components, we instead consider an end-to-end approach via…

Multi-view cooperative perception and multimodal fusion are essential for reliable 3D spatiotemporal understanding in autonomous driving, especially under occlusions, limited viewpoints, and communication delays in V2X scenarios. This paper…

End-to-end autonomous driving has drawn tremendous attention recently. Many works focus on using modular deep neural networks to construct the end-to-end archi-tecture. However, whether using powerful large language models (LLM), especially…

Robust trajectory planning under camera viewpoint changes is important for scalable end-to-end autonomous driving. However, existing models often depend heavily on the camera viewpoints seen during training. We investigate an…

Robust urban autonomous driving requires reliable 3D scene understanding and stable decision-making under dense interactions. However, existing end-to-end models lack interpretability, while modular pipelines suffer from error propagation…

Given the rapid advance in ITS technologies, future mobility is pointing to vehicular autonomy. However, there is still a long way before full automation, and human intervention is required. This work sheds light on understanding human…

Recently, it is increasingly popular to equip mobile RGB cameras with Time-of-Flight (ToF) sensors for active depth sensing. However, for off-the-shelf ToF sensors, one must tackle two problems in order to obtain high-quality depth with…

Autonomous Vehicles (AVs) are transforming the future of transportation through advances in intelligent perception, decision-making, and control systems. However, their success is tied to one core capability, reliable object detection in…