相关论文: One Million Scenes for Autonomous Driving: ONCE Da…

In the field of autonomous driving, two important features of autonomous driving car systems are the explainability of decision logic and the accuracy of environmental perception. This paper introduces DME-Driver, a new autonomous driving…

Autonomous vehicles operate in a dynamic environment, where the speed with which a vehicle can perceive and react impacts the safety and efficacy of the system. LiDAR provides a prominent sensory modality that informs many existing…

Driving behavior is inherently personal, influenced by individual habits, decision-making styles, and physiological states. However, most existing datasets treat all drivers as homogeneous, overlooking driver-specific variability. To…

Synthesizing free-view photo-realistic images is an important task in multimedia. With the development of advanced driver assistance systems~(ADAS) and their applications in autonomous vehicles, experimenting with different scenarios…

Robotic perception requires the modeling of both 3D geometry and semantics. Existing methods typically focus on estimating 3D bounding boxes, neglecting finer geometric details and struggling to handle general, out-of-vocabulary objects. 3D…

Human driver can easily describe the complex traffic scene by visual system. Such an ability of precise perception is essential for driver's planning. To achieve this, a geometry-aware representation that quantizes the physical 3D scene…

Radar has stronger adaptability in adverse scenarios for autonomous driving environmental perception compared to widely adopted cameras and LiDARs. Compared with commonly used 3D radars, the latest 4D radars have precise vertical resolution…

Three-dimensional (3D) understanding of objects and scenes play a key role in humans' ability to interact with the world and has been an active area of research in computer vision, graphics, and robotics. Large scale synthetic and…

3D object detection has recently become popular due to many applications in robotics, augmented reality, autonomy, and image retrieval. We introduce the Objectron dataset to advance the state of the art in 3D object detection and foster new…

While a great variety of 3D cameras have been introduced in recent years, most publicly available datasets for object recognition and pose estimation focus on one single camera. In this work, we present a dataset of 32 scenes that have been…

To operate safely, autonomous vehicles (AVs) need to detect and handle unexpected objects or anomalies on the road. While significant research exists for anomaly detection and segmentation in 2D, research progress in 3D is underexplored.…

3D environment recognition is essential for autonomous driving systems, as autonomous vehicles require a comprehensive understanding of surrounding scenes. Recently, the predominant approach to define this real-life problem is through 3D…

Collective perception has received considerable attention as a promising approach to overcome occlusions and limited sensing ranges of vehicle-local perception in autonomous driving. In order to develop and test novel collective perception…

Scenario-based testing for the safety validation of highly automated vehicles is a promising approach that is being examined in research and industry. This approach heavily relies on data from real-world scenarios to derive the necessary…

Autonomous driving requires the inference of actionable information such as detecting and classifying objects, and determining the drivable space. To this end, we present Multi-View LidarNet (MVLidarNet), a two-stage deep neural network for…

In current object detection, algorithms require the object to be directly visible in order to be detected. As humans, however, we intuitively use visual cues caused by the respective object to already make assumptions about its appearance.…

Model scaling has demonstrated remarkable success through large-scale training on diverse datasets. It remains an open question whether the same paradigm would apply to autonomous driving perception systems due to unique challenges, such as…

Holistically understanding an object and its 3D movable parts through visual perception models is essential for enabling an autonomous agent to interact with the world. For autonomous driving, the dynamics and states of vehicle parts such…

Autonomous parking remains a critical yet challenging task in intelligent driving systems, particularly within constrained urban environments where maneuvering space is limited and precise control is essential. While recent advances in…

In this paper, we study the problem of unsupervised object detection from 3D point clouds in self-driving scenes. We present a simple yet effective method that exploits (i) point clustering in near-range areas where the point clouds are…