相关论文: SNE-RoadSeg: Incorporating Surface Normal Informat…

The high performance of RGB-D based road segmentation methods contrasts with their rare application in commercial autonomous driving, which is owing to two reasons: 1) the prior methods cannot achieve high inference speed and high accuracy…

Autonomous vehicles require knowledge of the surrounding road layout, which can be predicted by state-of-the-art CNNs. This work addresses the current lack of data for determining lane instances, which are needed for various driving…

Semantic image segmentation is an essential component of modern autonomous driving systems, as an accurate understanding of the surrounding scene is crucial to navigation and action planning. Current state-of-the-art approaches in semantic…

This paper proposes three-filters-to-normal (3F2N), an accurate and ultrafast surface normal estimator (SNE), which is designed for structured range sensor data, e.g., depth/disparity images. 3F2N SNE computes surface normals by simply…

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 driving requires accurate scene understanding, including road geometry, traffic agents, and their semantic relationships. In online HD map generation scenarios, raster-based representations are well-suited to vision models but…

This study investigates the effectiveness of modern Deformable Convolutional Neural Networks (DCNNs) for semantic segmentation tasks, particularly in autonomous driving scenarios with fisheye images. These images, providing a wide field of…

Depth completion is a crucial task in autonomous driving, aiming to convert a sparse depth map into a dense depth prediction. Due to its potentially rich semantic information, RGB image is commonly fused to enhance the completion effect.…

Enabling autonomous driving (AD) can be considered one of the biggest challenges in today's technology. AD is a complex task accomplished by several functionalities, with environment perception being one of its core functions. Environment…

Driven by rapid advances in large-scale generative models, synthetic data has emerged as a promising solution for visual understanding. While modern diffusion models achieve remarkable photorealistic image synthesis, their potential in…

The recent advancements in deep convolutional neural networks have shown significant promise in the domain of road scene parsing. Nevertheless, the existing works focus primarily on freespace detection, with little attention given to…

Online scene perception and topology reasoning are critical for autonomous vehicles to understand their driving environments, particularly for mapless driving systems that endeavor to reduce reliance on costly High-Definition (HD) maps.…

Road detection and segmentation is a crucial task in computer vision for safe autonomous driving. With this in mind, a new net architecture (3D-DEEP) and its end-to-end training methodology for CNN-based semantic segmentation are described…

Convolutional neural networks (CNNs) are usually built by stacking convolutional operations layer-by-layer. Although CNN has shown strong capability to extract semantics from raw pixels, its capacity to capture spatial relationships of…

This paper presents a dedicated Deep Neural Network (DNN) architecture that reconstructs space-time traffic speeds on freeways given sparse data. The DNN is constructed in such a way, that it learns heterogeneous congestion patterns using a…

Dynamic scene understanding is the ability of a computer system to interpret and make sense of the visual information present in a video of a real-world scene. In this thesis, we present a series of frameworks for dynamic scene…

Detecting and tracking objects is a crucial component of any autonomous navigation method. For the past decades, object detection has yielded promising results using neural networks on various datasets. While many methods focus on…

Road surface classification (RSC) is a key enabler for environment-aware predictive maintenance systems. However, existing RSC techniques often fail to generalize beyond narrow operational conditions due to limited sensing modalities and…

This paper investigates the application of the latest machine learning technique deep neural networks for classifying road surface conditions (RSC) based on images from smartphones. Traditional machine learning techniques such as support…

Semantic segmentation is a key technology for autonomous vehicles to understand the surrounding scenes. The appealing performances of contemporary models usually come at the expense of heavy computations and lengthy inference time, which is…