相关论文: Scalable Primitives for Generalized Sensor Fusion …

Multi-sensor fusion in autonomous vehicles is becoming more common to offer a more robust alternative for several perception tasks. This need arises from the unique contribution of each sensor in collecting data: camera-radar fusion offers…

With the rapid advancement of autonomous driving technology, there is a growing need for enhanced safety and efficiency in the automatic environmental perception of vehicles during their operation. In modern vehicle setups, cameras and…

Large scale monitoring systems enable efficient field level data collection at high temporal and spatial resolutions. One example is the deployment of such systems in pipeline infrastructure applications which have to be monitored for leaks…

Deploying depth estimation networks in the real world requires high-level robustness against various adverse conditions to ensure safe and reliable autonomy. For this purpose, many autonomous vehicles employ multi-modal sensor systems,…

The Tactical Driver Behavior modeling problem requires understanding of driver actions in complicated urban scenarios from a rich multi modal signals including video, LiDAR and CAN bus data streams. However, the majority of deep learning…

Building a multi-modality multi-task neural network toward accurate and robust performance is a de-facto standard in perception task of autonomous driving. However, leveraging such data from multiple sensors to jointly optimize the…

Recent advancements in vision-language foundation models have significantly enhanced open-vocabulary 3D scene understanding. However, the generalizability of existing methods is constrained due to their framework designs and their reliance…

We propose "Generative Fusion Decoding" (GFD), a novel shallow fusion framework designed to integrate large language models (LLMs) into cross-modal text recognition systems for automatic speech recognition (ASR) and optical character…

Recent advancements in vision foundation models (VFMs) have revolutionized visual perception in 2D, yet their potential for 3D scene understanding, particularly in autonomous driving applications, remains underexplored. In this paper, we…

We propose GGS, a Generalizable Gaussian Splatting method for Autonomous Driving which can achieve realistic rendering under large viewpoint changes. Previous generalizable 3D gaussian splatting methods are limited to rendering novel views…

Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…

World models for autonomous driving have the potential to dramatically improve the reasoning capabilities of today's systems. However, most works focus on camera data, with only a few that leverage lidar data or combine both to better…

Multimodal learning faces a fundamental tension between deep, fine-grained fusion and computational scalability. While cross-attention models achieve strong performance through exhaustive pairwise fusion, their quadratic complexity is…

Realizing human-like perception is a challenge in open driving scenarios due to corner cases and visual occlusions. To gather knowledge of rare and occluded instances, federated learning assisted connected autonomous vehicle (FLCAV) has…

End-to-end perception and trajectory prediction from raw sensor data is one of the key capabilities for autonomous driving. Modular pipelines restrict information flow and can amplify upstream errors. Recent query-based, fully…

For high-level Autonomous Vehicles (AV), localization is highly security and safety critical. One direct threat to it is GPS spoofing, but fortunately, AV systems today predominantly use Multi-Sensor Fusion (MSF) algorithms that are…

LiDAR and camera are two critical sensors for multi-modal 3D semantic segmentation and are supposed to be fused efficiently and robustly to promise safety in various real-world scenarios. However, existing multi-modal methods face two key…

Autonomous vehicles (AVs) must interact with a diverse set of human drivers in heterogeneous geographic areas. Ideally, fleets of AVs should share trajectory data to continually re-train and improve trajectory forecasting models from…

Remote sensing images captured from aerial perspectives often exhibit significant scale variations and complex backgrounds, posing challenges for salient object detection (SOD). Existing methods typically extract multi-level features at a…

Object detection in state-of-the-art Autonomous Vehicles (AV) framework relies heavily on deep neural networks. Typically, these networks perform object detection uniformly on the entire camera LiDAR frames. However, this uniformity…