相关论文: Self-Supervised Road Layout Parsing with Graph Aut…

In autonomous driving tasks, scene understanding is the first step towards predicting the future behavior of the surrounding traffic participants. Yet, how to represent a given scene and extract its features are still open research…

Encoding a driving scene into vector representations has been an essential task for autonomous driving that can benefit downstream tasks e.g. trajectory prediction. The driving scene often involves heterogeneous elements such as the…

Graph-based clustering plays an important role in the clustering area. Recent studies about graph convolution neural networks have achieved impressive success on graph type data. However, in general clustering tasks, the graph structure of…

Hypergraphs play a pivotal role in the modelling of data featuring higher-order relations involving more than two entities. Hypergraph neural networks emerge as a powerful tool for processing hypergraph-structured data, delivering…

We present a graph neural network model for solving graph-to-graph learning problems. Most deep learning on graphs considers ``simple'' problems such as graph classification or regressing real-valued graph properties. For such tasks, the…

Dynamic scene understanding is the ability of a computer system to interpret and make sense of the visual information present in a video of a real-world scene. In this thesis, we present a series of frameworks for dynamic scene…

We introduce a novel self-supervised learning framework that automatically learns representations from input computer-aided design (CAD) models for downstream tasks, including part classification, modeling segmentation, and machining…

Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work…

Training deep neural networks to estimate the viewpoint of objects requires large labeled training datasets. However, manually labeling viewpoints is notoriously hard, error-prone, and time-consuming. On the other hand, it is relatively…

We present a scalable approach for semi-supervised learning on graph-structured data that is based on an efficient variant of convolutional neural networks which operate directly on graphs. We motivate the choice of our convolutional…

Studies have shown that autonomous vehicles (AVs) behave conservatively in a traffic environment composed of human drivers and do not adapt to local conditions and socio-cultural norms. It is known that socially aware AVs can be designed if…

In autonomous driving, navigation through unsignaled intersections with many traffic participants moving around is a challenging task. To provide a solution to this problem, we propose a novel branched network G-CIL for the navigation…

Document layout analysis is a known problem to the documents research community and has been vastly explored yielding a multitude of solutions ranging from text mining, and recognition to graph-based representation, visual feature…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

For an autonomous vehicle, situation understand-ing is a key capability towards safe and comfortable decision-making and navigation. Information is in general provided bymultiple sources. Prior information about the road topology andtraffic…

The tracking-by-detection framework requires a set of positive and negative training samples to learn robust tracking models for precise localization of target objects. However, existing tracking models mostly treat different samples…

Adaptability is central to autonomy. Intuitively, for high-dimensional learning problems such as navigating based on vision, internal models with higher complexity allow to accurately encode the information available. However, most learning…

Heterogeneous Graph Neural Networks (HGNNs), have demonstrated excellent capabilities in processing heterogeneous information networks. Self-supervised learning on heterogeneous graphs, especially contrastive self-supervised strategy, shows…

Road network is a critical infrastructure powering many applications including transportation, mobility and logistics in real life. To leverage the input of a road network across these different applications, it is necessary to learn the…

Accurately reconstructing road surfaces is pivotal for various applications especially in autonomous driving. This paper introduces a position encoding Multi-Layer Perceptrons (MLPs) framework to reconstruct road surfaces, with input as…