相关论文: 2nd Place Solution for Waymo Open Dataset Challeng…

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…

In this technical report, we present our solutions of Waymo Open Dataset (WOD) Challenge 2020 - 2D Object Track. We adopt FPN as our basic framework. Cascade RCNN, stacked PAFPN Neck and Double-Head are used for performance improvements. In…

This technical report presents the online and real-time 2D and 3D multi-object tracking (MOT) algorithms that reached the 1st places on both Waymo Open Dataset 2D tracking and 3D tracking challenges. An efficient and pragmatic online…

Object detection has been one of the most active topics in computer vision for the past years. Recent works have mainly focused on pushing the state-of-the-art in the general-purpose COCO benchmark. However, the use of such detection…

The research community has increasing interest in autonomous driving research, despite the resource intensity of obtaining representative real world data. Existing self-driving datasets are limited in the scale and variation of the…

Object detection is a computer vision task that has become an integral part of many consumer applications today such as surveillance and security systems, mobile text recognition, and diagnosing diseases from MRI/CT scans. Object detection…

Tremendous progress in deep learning over the last years has led towards a future with autonomous vehicles on our roads. Nevertheless, the performance of their perception systems is strongly dependent on the quality of the utilized training…

Autonomous Vehicle (AV) perception systems require more than simply seeing, via e.g., object detection or scene segmentation. They need a holistic understanding of what is happening within the scene for safe interaction with other road…

Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of perception stack especially for the sake of path planning, motion…

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…

In this report, we introduce our real-time 2D object detection system for the realistic autonomous driving scenario. Our detector is built on a newly designed YOLO model, called YOLOX. On the Argoverse-HD dataset, our system achieves 41.0…

3D semantic segmentation is one of the most crucial tasks in driving perception. The ability of a learning-based model to accurately perceive dense 3D surroundings often ensures the safe operation of autonomous vehicles. However, existing…

Object detection is a crucial component in autonomous vehicle systems. It enables the vehicle to perceive and understand its environment by identifying and locating various objects around it. By utilizing advanced imaging and deep learning…

On-board sensors of autonomous vehicles can be obstructed, occluded, or limited by restricted fields of view, complicating downstream driving decisions. Intelligent roadside infrastructure perception systems, installed at elevated vantage…

This paper summarizes model improvements and inference-time optimizations for the popular anchor-based detectors in the scenes of autonomous driving. Based on the high-performing RCNN-RS and RetinaNet-RS detection frameworks designed for…

Contemporary deep-learning object detection methods for autonomous driving usually assume prefixed categories of common traffic participants, such as pedestrians and cars. Most existing detectors are unable to detect uncommon objects and…

We propose a novel and pragmatic framework for traffic scene perception with roadside cameras. The proposed framework covers a full-stack of roadside perception pipeline for infrastructure-assisted autonomous driving, including object…

Object detection is a critical problem for the safe interaction between autonomous vehicles and road users. Deep-learning methodologies allowed the development of object detection approaches with better performance. However, there is still…

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…

3D object detection is an important module in autonomous driving and robotics. However, many existing methods focus on using single frames to perform 3D detection, and do not fully utilize information from multiple frames. In this paper, we…