相关论文: Temporal LiDAR Frame Prediction for Autonomous Dri…

In contrast to extensive studies on general vision, pre-training for scalable visual autonomous driving remains seldom explored. Visual autonomous driving applications require features encompassing semantics, 3D geometry, and temporal…

Predicting future 3D LiDAR pointclouds is a challenging task that is useful in many applications in autonomous driving such as trajectory prediction, pose forecasting and decision making. In this work, we propose a new LiDAR prediction…

Semantic grids are a useful representation of the environment around a robot. They can be used in autonomous vehicles to concisely represent the scene around the car, capturing vital information for downstream tasks like navigation or…

LiDAR panoptic segmentation facilitates an autonomous vehicle to comprehensively understand the surrounding objects and scenes and is required to run in real time. The recent proposal-free methods accelerate the algorithm, but their…

This paper investigates training better visual world models for robot manipulation, i.e., models that can predict future visual observations by conditioning on past frames and robot actions. Specifically, we consider world models that…

In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…

Neural Scene Flow Prior (NSFP) is of significant interest to the vision community due to its inherent robustness to out-of-distribution (OOD) effects and its ability to deal with dense lidar points. The approach utilizes a coordinate neural…

Predicting movement of objects while the action of learning agent interacts with the dynamics of the scene still remains a key challenge in robotics. We propose a multi-layer Long Short Term Memory (LSTM) autoendocer network that predicts…

Accurate and fast scene understanding is one of the challenging task for autonomous driving, which requires to take full advantage of LiDAR point clouds for semantic segmentation. In this paper, we present a \textbf{concise} and…

Automated driving fundamentally requires knowledge about the surrounding geometry of the scene. Modern approaches use only captured images to predict occupancy maps that represent the geometry. Training these approaches requires accurate…

In this paper, we address the problem of predicting the future motion of a dynamic agent (called a target agent) given its current and past states as well as the information on its environment. It is paramount to develop a prediction model…

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…

In this paper, we propose the Deep Structured self-Driving Network (DSDNet), which performs object detection, motion prediction, and motion planning with a single neural network. Towards this goal, we develop a deep structured energy based…

Autonomous driving requires a detailed understanding of complex driving scenes. The redundancy and complementarity of the vehicle's sensors provide an accurate and robust comprehension of the environment, thereby increasing the level of…

Modern driver assistance systems rely on a wide range of sensors (RADAR, LIDAR, ultrasound and cameras) for scene understanding and prediction. These sensors are typically used for detecting traffic participants and scene elements required…

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for…

LiDAR-based world models offer more structured and geometry-aware representations than their image-based counterparts. However, existing LiDAR world models are narrowly trained; each model excels only in the domain for which it was built.…

Accurate prediction of driving scenes is essential for road safety and autonomous driving. Occupancy Grid Maps (OGMs) are commonly employed for scene prediction due to their structured spatial representation, flexibility across sensor…

Incorporating computational fluid dynamics in the design process of jets, spacecraft, or gas turbine engines is often challenged by the required computational resources and simulation time, which depend on the chosen physics-based…

Scene flow is the dense 3D reconstruction of motion and geometry of a scene. Most state-of-the-art methods use a pair of stereo images as input for full scene reconstruction. These methods depend a lot on the quality of the RGB images and…