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

Anticipating the motion of neighboring vehicles is crucial for autonomous driving, especially on congested highways where even slight motion variations can result in catastrophic collisions. An accurate prediction of a future trajectory…

Steering estimation is a critical task in autonomous driving, traditionally relying on 2D image-based models. In this work, we explore the advantages of incorporating 3D spatial information through hybrid architectures that combine 3D…

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…

Diffusion models (DMs) excel in photo-realistic image synthesis, but their adaptation to LiDAR scene generation poses a substantial hurdle. This is primarily because DMs operating in the point space struggle to preserve the curve-like…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

The ability to reliably perceive the environmental states, particularly the existence of objects and their motion behavior, is crucial for autonomous driving. In this work, we propose an efficient deep model, called MotionNet, to jointly…

For an autonomous vehicle it is essential to observe the ongoing dynamics of a scene and consequently predict imminent future scenarios to ensure safety to itself and others. This can be done using different sensors and modalities. In this…

We present a novel framework for dynamic radiance field prediction given monocular video streams. Unlike previous methods that primarily focus on predicting future frames, our method goes a step further by generating explicit 3D…

A unified and versatile LiDAR segmentation model with strong robustness and generalizability is desirable for safe autonomous driving perception. This work presents M3Net, a one-of-a-kind framework for fulfilling multi-task, multi-dataset,…

The core task of any autonomous driving system is to transform sensory inputs into driving commands. In end-to-end driving, this is achieved via a neural network, with one or multiple cameras as the most commonly used input and low-level…

We propose a data-driven scene flow estimation algorithm exploiting the observation that many 3D scenes can be explained by a collection of agents moving as rigid bodies. At the core of our method lies a deep architecture able to reason at…

In this paper we present CMRNet, a realtime approach based on a Convolutional Neural Network to localize an RGB image of a scene in a map built from LiDAR data. Our network is not trained in the working area, i.e. CMRNet does not learn the…

Controllable generation of realistic LiDAR scenes is crucial for applications such as autonomous driving and robotics. While recent diffusion-based models achieve high-fidelity LiDAR generation, they lack explicit control over foreground…

This work proposes a novel approach to 4D radar-based scene flow estimation via cross-modal learning. Our approach is motivated by the co-located sensing redundancy in modern autonomous vehicles. Such redundancy implicitly provides various…

Reliable deep learning models require not only accurate predictions but also well-calibrated confidence estimates to ensure dependable uncertainty estimation. This is crucial in safety-critical applications like autonomous driving, which…

Recent breakthroughs in autonomous driving have been propelled by advances in robust world modeling, fundamentally transforming how vehicles interpret dynamic scenes and execute safe decision-making. World models have emerged as a linchpin…

Autonomous vehicles rely on their perception systems to acquire information about their immediate surroundings. It is necessary to detect the presence of other vehicles, pedestrians and other relevant entities. Safety concerns and the need…

In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…

Vision-based deep learning (DL) methods have made great progress in learning autonomous driving models from large-scale crowd-sourced video datasets. They are trained to predict instantaneous driving behaviors from video data captured by…

Predicting future frames of a video sequence has been a problem of high interest in the field of Computer Vision as it caters to a multitude of applications. The ability to predict, anticipate and reason about future events is the essence…