相关论文: KITTI-CARLA: a KITTI-like dataset generated by CAR…

Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a…

Despite all the challenges and limitations, vision-based vehicle speed detection is gaining research interest due to its great potential benefits such as cost reduction, and enhanced additional functions. As stated in a recent survey [1],…

Accurate vision-based speed estimation is much more cost-effective than traditional methods based on radar or LiDAR. However, it is also challenging due to the limitations of perspective projection on a discrete sensor, as well as the high…

We introduce the Precise Synthetic Image and LiDAR (PreSIL) dataset for autonomous vehicle perception. Grand Theft Auto V (GTA V), a commercial video game, has a large detailed world with realistic graphics, which provides a diverse data…

Simulation offers advantages throughout the development process of automated driving functions, both in research and product development. Common open-source simulators like CARLA are extensively used in training, evaluation, and…

Autonomous racing has emerged as a crucial testbed for autonomous driving algorithms, necessitating a simulation environment for both vehicle dynamics and sensor behavior. Striking the right balance between vehicle dynamics and sensor…

Point cloud datasets for perception tasks in the context of autonomous driving often rely on high resolution 64-layer Light Detection and Ranging (LIDAR) scanners. They are expensive to deploy on real-world autonomous driving sensor…

My project tackles the question of whether Ray can be used to quickly train autonomous vehicles using a simulator (Carla), and whether a platform robust enough for further research purposes can be built around it. Ray is an open-source…

LiDAR sensors are widely used in autonomous driving due to the reliable 3D spatial information. However, the data of LiDAR is sparse and the frequency of LiDAR is lower than that of cameras. To generate denser point clouds spatially and…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

In this paper we propose a novel approach to estimate dense optical flow from sparse lidar data acquired on an autonomous vehicle. This is intended to be used as a drop-in replacement of any image-based optical flow system when images are…

Image-based 3D object detection is an inevitable part of autonomous driving because cheap onboard cameras are already available in most modern cars. Because of the accurate depth information, currently, most state-of-the-art 3D object…

Employing data augmentation methods to enhance perception performance in adverse weather has attracted considerable attention recently. Most of the LiDAR augmentation methods post-process the existing dataset by physics-based models or…

LiDARs and cameras are the two main sensors that are planned to be included in many announced autonomous vehicles prototypes. Each of the two provides a unique form of data from a different perspective to the surrounding environment. In…

With the advancement of computing resources, an increasing number of Neural Networks (NNs) are appearing for image detection and segmentation appear. However, these methods usually accept as input a RGB 2D image. On the other side, Light…

The CARLA simulator (Car Learning to Act) serves as a robust platform for testing algorithms and generating datasets in the field of Autonomous Driving (AD). It provides control over various environmental parameters, enabling thorough…

The past few years have witnessed an increasing interest in improving the perception performance of LiDARs on autonomous vehicles. While most of the existing works focus on developing new deep learning algorithms or model architectures, we…

Autonomous driving must operate across diverse surfaces to enable safe mobility. However, most driving datasets are captured on well-paved flat roads. Moreover, recent driving datasets primarily provide sparse LiDAR ground truth for images,…

Existing adversarial example research focuses on digitally inserted perturbations on top of existing natural image datasets. This construction of adversarial examples is not realistic because it may be difficult, or even impossible, for an…

Rigorous testing of autonomous robots, such as self-driving vehicles, is essential to ensure their safety in real-world deployments. This requires building high-fidelity simulators to test scenarios beyond those that can be safely or…