相关论文: Learning Lane Graph Representations for Motion For…

The robust and safe operation of automated vehicles underscores the critical need for detailed and accurate topological maps. At the heart of this requirement is the construction of lane graphs, which provide essential information on lane…

For weakly supervised anomaly detection, most existing work is limited to the problem of inadequate video representation due to the inability of modeling long-term contextual information. To solve this, we propose a novel weakly supervised…

Modeling human trajectories in crowded environments is challenging due to the complex nature of pedestrian behavior and interactions. This paper proposes a geometric graph neural network (GNN) architecture that integrates domain knowledge…

Graph convolutional networks (GCNs) are a widely used method for graph representation learning. We investigate the power of GCNs, as a function of their number of layers, to distinguish between different random graph models on the basis of…

Machine learning frameworks such as graph neural networks typically rely on a given, fixed graph to exploit relational inductive biases and thus effectively learn from network data. However, when said graphs are (partially) unobserved,…

We propose a motion forecasting model called BANet, which means Boundary-Aware Network, and it is a variant of LaneGCN. We believe that it is not enough to use only the lane centerline as input to obtain the embedding features of the vector…

In this paper, we tackle the problem of detecting objects in 3D and forecasting their future motion in the context of self-driving. Towards this goal, we design a novel approach that explicitly takes into account the interactions between…

Understanding and interacting with everyday physical scenes requires rich knowledge about the structure of the world, represented either implicitly in a value or policy function, or explicitly in a transition model. Here we introduce a new…

Recently, graph Convolutional Neural Networks (graph CNNs) have been widely used for graph data representation and semi-supervised learning tasks. However, existing graph CNNs generally use a fixed graph which may be not optimal for…

Accurate trajectory prediction is crucial for ensuring safe and efficient autonomous driving. However, most existing methods overlook complex interactions between traffic participants that often govern their future trajectories. In this…

The aim of this work is to develop a fully-distributed algorithmic framework for training graph convolutional networks (GCNs). The proposed method is able to exploit the meaningful relational structure of the input data, which are collected…

Online lane graph construction is a promising but challenging task in autonomous driving. Previous methods usually model the lane graph at the pixel or piece level, and recover the lane graph by pixel-wise or piece-wise connection, which…

Determining the traffic scenario space is a major challenge for the homologation and coverage assessment of automated driving functions. In contrast to current approaches that are mainly scenario-based and rely on expert knowledge, we…

We present a relational graph learning approach for robotic crowd navigation using model-based deep reinforcement learning that plans actions by looking into the future. Our approach reasons about the relations between all agents based on…

Social and information networks are gaining huge popularity recently due to their various applications. Knowledge representation through graphs in the form of nodes and edges should preserve as many characteristics of the original data as…

Graph Convolutional Networks (GCNs) have been widely demonstrated their powerful ability in graph data representation and learning. Existing graph convolution layers are mainly designed based on graph signal processing and transform aspect…

Representation learning in dynamic graphs is a challenging problem because the topology of graph and node features vary at different time. This requires the model to be able to effectively capture both graph topology information and…

Human motion prediction is still an open problem extremely important for autonomous driving and safety applications. Due to the complex spatiotemporal relation of motion sequences, this remains a challenging problem not only for movement…

Lane detection in driving scenes is an important module for autonomous vehicles and advanced driver assistance systems. In recent years, many sophisticated lane detection methods have been proposed. However, most methods focus on detecting…

As an important part of intelligent transportation systems, traffic forecasting has attracted tremendous attention from academia and industry. Despite a lot of methods being proposed for traffic forecasting, it is still difficult to model…