相关论文: Argoverse: 3D Tracking and Forecasting with Rich M…
3D cars are commonly used in self-driving systems, virtual/augmented reality, and games. However, existing 3D car datasets are either synthetic or low-quality, limiting their applications in practical scenarios and presenting a significant…
Augmented reality (AR) has gained increasingly attention from both research and industry communities. By overlaying digital information and content onto the physical world, AR enables users to experience the world in a more informative and…
Advanced Driver-Assistance Systems (ADAS) have successfully integrated learning-based techniques into vehicle perception and decision-making. However, their application in 3D lane detection for effective driving environment perception is…
The pursuit of autonomous driving has produced one of the richest sensor data collections in all of robotics. However, its scale and diversity remain largely untapped. Each dataset adopts different 2D and 3D modalities, such as cameras,…
Detecting obstacles is crucial for safe and efficient autonomous driving. To this end, we present NVRadarNet, a deep neural network (DNN) that detects dynamic obstacles and drivable free space using automotive RADAR sensors. The network…
Autonomous vehicles (AVs) are evolving into mobile computing platforms, equipped with powerful processors and diverse sensors that generate massive heterogeneous data, for example 14 TB per day. Supporting emerging third-party applications…
This paper explores pedestrian trajectory prediction in urban traffic while focusing on both model accuracy and real-world applicability. While promising approaches exist, they often revolve around pedestrian datasets excluding…
We present the pedestrian patterns dataset for autonomous driving. The dataset was collected by repeatedly traversing the same three routes for one week starting at different specific timeslots. The purpose of the dataset is to capture the…
Event cameras, such as dynamic vision sensors (DVS), and dynamic and active-pixel vision sensors (DAVIS) can supplement other autonomous driving sensors by providing a concurrent stream of standard active pixel sensor (APS) images and DVS…
Understanding road scenes for visual perception remains crucial for intelligent self-driving cars. In particular, it is desirable to detect unexpected small road hazards reliably in real-time, especially under varying adverse conditions…
This paper proposes AutoScape, a long-horizon driving scene generation framework. At its core is a novel RGB-D diffusion model that iteratively generates sparse, geometrically consistent keyframes, serving as reliable anchors for the…
High-definition (HD) map change detection is the task of determining when sensor data and map data are no longer in agreement with one another due to real-world changes. We collect the first dataset for the task, which we entitle the Trust,…
Auto-regressive models have achieved impressive results in 2D image generation by modeling joint distributions in grid space. In this paper, we extend auto-regressive models to 3D domains, and seek a stronger ability of 3D shape generation…
Unlike humans, who can effortlessly estimate the entirety of objects even when partially occluded, modern computer vision algorithms still find this aspect extremely challenging. Leveraging this amodal perception for autonomous driving…
High Definition (HD) maps are maps with precise definitions of road lanes with rich semantics of the traffic rules. They are critical for several key stages in an autonomous driving system, including motion forecasting and planning.…
Nowadays, plenty of deep learning technologies are being applied to all aspects of autonomous driving with promising results. Among them, object detection is the key to improve the ability of an autonomous agent to perceive its environment…
In this paper, a multi-modal 360$^{\circ}$ framework for 3D object detection and tracking for autonomous vehicles is presented. The process is divided into four main stages. First, images are fed into a CNN network to obtain instance…
Recent advances in high-definition (HD) map construction from surround-view images have highlighted their cost-effectiveness in deployment. However, prevailing techniques often fall short in accurately extracting and utilizing road…
This report presents our Le3DE2E_Occ solution for 4D Occupancy Forecasting in Argoverse Challenges at CVPR 2023 Workshop on Autonomous Driving (WAD). Our solution consists of a strong LiDAR-based Bird's Eye View (BEV) encoder with temporal…
With their potential to significantly reduce traffic accidents, enhance road safety, optimize traffic flow, and decrease congestion, autonomous driving systems are a major focus of research and development in recent years. Beyond these…