相关论文: DAIR-V2X: A Large-Scale Dataset for Vehicle-Infras…

Situational awareness as a necessity in the connected and autonomous vehicles (CAV) domain is the subject of a significant number of researches in recent years. The driver's safety is directly dependent on the robustness, reliability, and…

Cooperatively utilizing both ego-vehicle and infrastructure sensor data via V2X communication has emerged as a promising approach for advanced autonomous driving. However, current research mainly focuses on improving individual modules,…

We address the problem of real-time 3D object detection from point clouds in the context of autonomous driving. Computation speed is critical as detection is a necessary component for safety. Existing approaches are, however, expensive in…

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…

Object re-identification (ReID) in large camera networks faces numerous challenges. First, the similar appearances of objects degrade ReID performance, a challenge that needs to be addressed by existing appearance-based ReID methods.…

Real-time 3D object detection is crucial for autonomous cars. Achieving promising performance with high efficiency, voxel-based approaches have received considerable attention. However, previous methods model the input space with features…

Intelligent vehicle systems require a deep understanding of the interplay between road conditions, surrounding entities, and the ego vehicle's driving behavior for safe and efficient navigation. This is particularly critical in developing…

Infrastructure-based perception plays a crucial role in intelligent transportation systems, offering global situational awareness and enabling cooperative autonomy. However, existing camera-based detection models often underperform in such…

Intelligent Transportation Systems (ITS) allow a drastic expansion of the visibility range and decrease occlusions for autonomous driving. To obtain accurate detections, detailed labeled sensor data for training is required. Unfortunately,…

The recent advancements in communication and computational systems has led to significant improvement of situational awareness in connected and autonomous vehicles. Computationally efficient neural networks and high speed wireless vehicular…

Camera and radar sensors have significant advantages in cost, reliability, and maintenance compared to LiDAR. Existing fusion methods often fuse the outputs of single modalities at the result-level, called the late fusion strategy. This can…

Contemporary deep-learning object detection methods for autonomous driving usually assume prefixed categories of common traffic participants, such as pedestrians and cars. Most existing detectors are unable to detect uncommon objects and…

In this paper, we investigate the application of Vehicle-to-Everything (V2X) communication to improve the perception performance of autonomous vehicles. We present a robust cooperative perception framework with V2X communication using a…

On-board sensors of autonomous vehicles can be obstructed, occluded, or limited by restricted fields of view, complicating downstream driving decisions. Intelligent roadside infrastructure perception systems, installed at elevated vantage…

When localizing and detecting 3D objects for autonomous driving scenes, obtaining information from multiple sensor (e.g. camera, LIDAR) typically increases the robustness of 3D detectors. However, the efficient and effective fusion of…

Realtime 4D reconstruction for dynamic scenes remains a crucial challenge for autonomous driving perception. Most existing methods rely on depth estimation through self-supervision or multi-modality sensor fusion. In this paper, we propose…

With the rapid advancement of autonomous driving technology, vehicle-to-everything (V2X) communication has emerged as a key enabler for extending perception range and enhancing driving safety by providing visibility beyond the line of…

Leddar PixSet is a new publicly available dataset (dataset.leddartech.com) for autonomous driving research and development. One key novelty of this dataset is the presence of full-waveform data from the Leddar Pixell sensor, a solid-state…

LiDAR point clouds have become the most common data source in autonomous driving. However, due to the sparsity of point clouds, accurate and reliable detection cannot be achieved in specific scenarios. Because of their complementarity with…

Multi-modal 3D object detection models for automated driving have demonstrated exceptional performance on computer vision benchmarks like nuScenes. However, their reliance on densely sampled LiDAR point clouds and meticulously calibrated…