相关论文: Scalability in Perception for Autonomous Driving: …

Semantic segmentation is key in autonomous driving. Using deep visual learning architectures is not trivial in this context, because of the challenges in creating suitable large scale annotated datasets. This issue has been traditionally…

In an autonomous driving system, it is essential to recognize vehicles, pedestrians and cyclists from images. Besides the high accuracy of the prediction, the requirement of real-time running brings new challenges for convolutional network…

Scalable systems for automated driving have to reliably cope with an open-world setting. This means, the perception systems are exposed to drastic domain shifts, like changes in weather conditions, time-dependent aspects, or geographic…

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…

A major bottleneck in off-road autonomous driving research lies in the scarcity of large-scale, high-quality datasets and benchmarks. To bridge this gap, we present ORAD-3D, which, to the best of our knowledge, is the largest dataset…

The Waymo Open Dataset has been released recently, providing a platform to crowdsource some fundamental challenges for automated vehicles (AVs), such as 3D detection and tracking. While~the dataset provides a large amount of high-quality…

Autonomous driving datasets are essential for validating the progress of intelligent vehicle algorithms, which include localization, perception, and prediction. However, existing datasets are predominantly focused on structured urban…

Adapting to a continuously evolving environment is a safety-critical challenge inevitably faced by all autonomous driving systems. Existing image and video driving datasets, however, fall short of capturing the mutable nature of the real…

Modern self-driving autonomy systems heavily rely on deep learning. As a consequence, their performance is influenced significantly by the quality and richness of the training data. Data collecting platforms can generate many hours of raw…

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,…

Vision-based end-to-end (E2E) driving has garnered significant interest in the research community due to its scalability and synergy with multimodal large language models (MLLMs). However, current E2E driving benchmarks primarily feature…

Perception systems of autonomous vehicles are susceptible to occlusion, especially when examined from a vehicle-centric perspective. Such occlusion can lead to overlooked object detections, e.g., larger vehicles such as trucks or buses may…

Accurate scene understanding from multiple sensors mounted on cars is a key requirement for autonomous driving systems. Nowadays, this task is mainly performed through data-hungry deep learning techniques that need very large amounts of…

To operate safely, autonomous vehicles (AVs) need to detect and handle unexpected objects or anomalies on the road. While significant research exists for anomaly detection and segmentation in 2D, research progress in 3D is underexplored.…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

Traditional decision and planning frameworks for self-driving vehicles (SDVs) scale poorly in new scenarios, thus they require tedious hand-tuning of rules and parameters to maintain acceptable performance in all foreseeable cases.…

Modern autonomous vehicle perception systems often struggle with occlusions and limited perception range. Previous studies have demonstrated the effectiveness of cooperative perception in extending the perception range and overcoming…

We introduce Argoverse 2 (AV2) - a collection of three datasets for perception and forecasting research in the self-driving domain. The annotated Sensor Dataset contains 1,000 sequences of multimodal data, encompassing high-resolution…

Recent advancements in Vehicle-to-Everything (V2X) technologies have enabled autonomous vehicles to share sensing information to see through occlusions, greatly boosting the perception capability. However, there are no real-world datasets…

Autonomous driving techniques have been flourishing in recent years while thirsting for huge amounts of high-quality data. However, it is difficult for real-world datasets to keep up with the pace of changing requirements due to their…