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The rapid development of 3D object detection systems for self-driving cars has significantly improved accuracy. However, these systems struggle to generalize across diverse driving environments, which can lead to safety-critical failures in…

Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…

Autonomous Vehicles (AVs) are mostly reliant on LiDAR sensors which enable spatial perception of their surroundings and help make driving decisions. Recent works demonstrated attacks that aim to hide objects from AV perception, which can…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of perception stack especially for the sake of path planning, motion…

The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…

A key challenge for autonomous vehicles is to navigate in unseen dynamic environments. Separating moving objects from static ones is essential for navigation, pose estimation, and understanding how other traffic participants are likely to…

LiDAR point clouds collected from a moving vehicle are functions of its trajectories, because the sensor motion needs to be compensated to avoid distortions. When autonomous vehicles are sending LiDAR point clouds to deep networks for…

Road boundaries, or curbs, provide autonomous vehicles with essential information when interpreting road scenes and generating behaviour plans. Although curbs convey important information, they are difficult to detect in complex urban…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance…

Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…

Autonomous driving, in recent years, has been receiving increasing attention for its potential to relieve drivers' burdens and improve the safety of driving. In modern autonomous driving pipelines, the perception system is an indispensable…

Recent years have witnessed huge successes in 3D object detection to recognize common objects for autonomous driving (e.g., vehicles and pedestrians). However, most methods rely heavily on a large amount of well-labeled training data. This…

In recent years, 3D object perception has become a crucial component in the development of autonomous driving systems, providing essential environmental awareness. However, as perception tasks in autonomous driving evolve, their variants…

LiDAR-based 3D object detection is essential for autonomous driving systems. However, LiDAR point clouds may appear to have sparsity, uneven distribution, and incomplete structures, significantly limiting the detection performance. In road…

The detection of small road hazards, such as lost cargo, is a vital capability for self-driving cars. We tackle this challenging and rarely addressed problem with a vision system that leverages appearance, contextual as well as geometric…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

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…

In the field of autonomous driving, a variety of sensor data types exist, each representing different modalities of the same scene. Therefore, it is feasible to utilize data from other sensors to facilitate image compression. However, few…