相关论文: Multi-modal Experts Network for Autonomous Driving

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…

Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…

Simultaneously using multimodal inputs from multiple sensors to train segmentors is intuitively advantageous but practically challenging. A key challenge is unimodal bias, where multimodal segmentors over rely on certain modalities, causing…

We consider the problem of developing robots that navigate like pedestrians on sidewalks through city centers for performing various tasks including delivery and surveillance. One particular challenge for such robots is crossing streets…

Multi-sensor fusion plays a critical role in enhancing perception for autonomous driving, overcoming individual sensor limitations, and enabling comprehensive environmental understanding. This paper first formalizes multi-sensor fusion…

End-to-end approaches to autonomous driving commonly rely on expert demonstrations. Although humans are good drivers, they are not good coaches for end-to-end algorithms that demand dense on-policy supervision. On the contrary, automated…

A common approach for modeling the environment of an autonomous vehicle are dynamic occupancy grid maps, in which the surrounding is divided into cells, each containing the occupancy and velocity state of its location. Despite the advantage…

Traffic scene recognition, which requires various visual classification tasks, is a critical ingredient in autonomous vehicles. However, most existing approaches treat each relevant task independently from one another, never considering the…

Artificial intelligence for graphs has achieved remarkable success in modeling complex systems, ranging from dynamic networks in biology to interacting particle systems in physics. However, the increasingly heterogeneous graph datasets call…

Autonomous racing has rapidly gained research attention. Traditionally, racing cars rely on 2D LiDAR as their primary visual system. In this work, we explore the integration of an event camera with the existing system to provide enhanced…

3D perception using sensors under vehicle industrial standard is the rigid demand in autonomous driving. MEMS LiDAR emerges with irresistible trend due to its lower cost, more robust, and meeting the mass-production standards. However, it…

Despite the increasing research interest in end-to-end learning systems for speech emotion recognition, conventional systems either suffer from the overfitting due in part to the limited training data, or do not explicitly consider the…

Recognizing the tremendous improvements that the integration of generative AI can bring to intelligent transportation systems, this article explores the integration of generative AI technologies in vehicular networks, focusing on their…

Training a multimodal network is challenging and it requires complex architectures to achieve reasonable performance. We show that one reason for this phenomena is the difference between the convergence rate of various modalities. We…

Autonomous driving vehicles provide a vast potential for realizing use cases in the on-road and off-road domains. Consequently, remarkable solutions exist to autonomous systems' environmental perception and control. Nevertheless, proof of…

The ability to simultaneously leverage multiple modes of sensor information is critical for perception of an automated vehicle's physical surroundings. Spatio-temporal alignment of registration of the incoming information is often a…

Real-time semantic segmentation of LiDAR data is crucial for autonomously driving vehicles, which are usually equipped with an embedded platform and have limited computational resources. Approaches that operate directly on the point cloud…

Designing a driving policy for autonomous vehicles is a difficult task. Recent studies suggested an end-toend (E2E) training of a policy to predict car actuators directly from raw sensory inputs. It is appealing due to the ease of labeled…

For autonomous agents to successfully operate in real world, the ability to anticipate future motions of surrounding entities in the scene can greatly enhance their safety levels since potentially dangerous situations could be avoided in…

Navigating dense and dynamic environments poses a significant challenge for autonomous driving systems, owing to the intricate nature of multimodal interaction, wherein the actions of various traffic participants and the autonomous vehicle…