相关论文: A*3D Dataset: Towards Autonomous Driving in Challe…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

Lidar based 3D object detection is inevitable for autonomous driving, because it directly links to environmental understanding and therefore builds the base for prediction and motion planning. The capacity of inferencing highly sparse 3D…

Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…

Safe highway autonomy for heavy trucks remains an open and unsolved challenge: due to long braking distances, scene understanding of hundreds of meters is required for anticipatory planning and to allow safe braking margins. However,…

Most autonomous driving (AD) datasets incur substantial costs for collection and labeling, inevitably yielding a plethora of low-quality and redundant data instances, thereby compromising performance and efficiency. Many applications in AD…

To enable self-driving vehicles accurate detection and tracking of surrounding objects is essential. While Light Detection and Ranging (LiDAR) sensors have set the benchmark for high-performance systems, the appeal of camera-only solutions…

Nighttime camera-based depth estimation is a highly challenging task, especially for autonomous driving applications, where accurate depth perception is essential for ensuring safe navigation. Models trained on daytime data often fail in…

Autonomous driving, in recent years, has been receiving increasing attention for its potential to relieve drivers' burdens and improve the safety of driving. In modern autonomous driving pipelines, the perception system is an indispensable…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Moving Object Detection (MOD) is a critical task for autonomous vehicles as moving objects represent higher collision risk than static ones. The trajectory of the ego-vehicle is planned based on the future states of detected moving objects.…

Traffic scene understanding is essential for enabling autonomous vehicles to accurately perceive and interpret their environment, thereby ensuring safe navigation. This paper presents a novel framework that transforms a single frontal-view…

Adverse weather conditions, low-light environments, and bumpy road surfaces pose significant challenges to SLAM in robotic navigation and autonomous driving. Existing datasets in this field predominantly rely on single sensors or…

Aiming at facilitating a real-world, ever-evolving and scalable autonomous driving system, we present a large-scale dataset for standardizing the evaluation of different self-supervised and semi-supervised approaches by learning from raw…

3D object detection is a core perceptual challenge for robotics and autonomous driving. However, the class-taxonomies in modern autonomous driving datasets are significantly smaller than many influential 2D detection datasets. In this work,…

Active learning strategies for 3D object detection in autonomous driving datasets may help to address challenges of data imbalance, redundancy, and high-dimensional data. We demonstrate the effectiveness of entropy querying to select…

We propose a novel multi-task learning system that combines appearance and motion cues for a better semantic reasoning of the environment. A unified architecture for joint vehicle detection and motion segmentation is introduced. In this…

Robust perception is critical for autonomous driving, especially under adverse weather and lighting conditions that commonly occur in real-world environments. In this paper, we introduce the Stereo Image Dataset (SID), a large-scale…

Recently, by using deep neural network based algorithms, object classification, detection and semantic segmentation solutions are significantly improved. However, one challenge for 2D image-based systems is that they cannot provide accurate…

The emerging trend in computer vision emphasizes developing universal models capable of simultaneously addressing multiple diverse tasks. Such universality typically requires joint training across multi-domain datasets to ensure effective…

3D object detection is an essential task in autonomous driving and robotics. Though great progress has been made, challenges remain in estimating 3D pose for distant and occluded objects. In this paper, we present a novel framework named…