相关论文: SELMA: SEmantic Large-scale Multimodal Acquisition…

Current perception models in autonomous driving have become notorious for greatly relying on a mass of annotated data to cover unseen cases and address the long-tail problem. On the other hand, learning from unlabeled large-scale collected…

As semi-automated vehicles (SAVs) become more common, ensuring effective human-vehicle interaction during control handovers remains a critical safety challenge. Existing studies often rely on single-session simulator experiments or…

Semantic segmentation was seen as a challenging computer vision problem few years ago. Due to recent advancements in deep learning, relatively accurate solutions are now possible for its use in automated driving. In this paper, the semantic…

In recent studies, numerous previous works emphasize the importance of semantic segmentation of LiDAR data as a critical component to the development of driver-assistance systems and autonomous vehicles. However, many state-of-the-art…

WeatherSeg, an advanced semi-supervised segmentation framework, addresses autonomous driving's environmental perception challenges in adverse weather while reducing annotation costs. This framework integrates a Dual Teacher-Student…

Semantic image and video segmentation stand among the most important tasks in computer vision nowadays, since they provide a complete and meaningful representation of the environment by means of a dense classification of the pixels in a…

Panoptic image segmentation is the computer vision task of finding groups of pixels in an image and assigning semantic classes and object instance identifiers to them. Research in image segmentation has become increasingly popular due to…

Scene understanding plays an essential role in enabling autonomous driving and maintaining high standards of performance and safety. To address this task, cameras and laser scanners (LiDARs) have been the most commonly used sensors, with…

3D semantic occupancy prediction is an emerging perception paradigm in autonomous driving, providing a voxel-level representation of both geometric details and semantic categories. However, its effectiveness is inherently constrained in…

Fast and efficient semantic segmentation of large-scale LiDAR point clouds is a fundamental problem in autonomous driving. To achieve this goal, the existing point-based methods mainly choose to adopt Random Sampling strategy to process…

Advancements in simulation and formal methods-guided environment sampling have enabled the rigorous evaluation of machine learning models in a number of safety-critical scenarios, such as autonomous driving. Application of these environment…

For long-term autonomy, most place recognition methods are mainly evaluated on simplified scenarios or simulated datasets, which cannot provide solid evidence to evaluate the readiness for current Simultaneous Localization and Mapping…

Collective perception has received considerable attention as a promising approach to overcome occlusions and limited sensing ranges of vehicle-local perception in autonomous driving. In order to develop and test novel collective perception…

Unlike humans, who can effortlessly estimate the entirety of objects even when partially occluded, modern computer vision algorithms still find this aspect extremely challenging. Leveraging this amodal perception for autonomous driving…

What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…

Low-latency intelligent systems are required for autonomous driving on non-uniform terrain in open-pit mines and developing countries. This work proposes a perception system for autonomous vehicles on unpaved roads and off-road…

Most of the sophisticated AI models utilize huge amounts of annotated data and heavy training to achieve high-end performance. However, there are certain challenges that hinder the deployment of AI models "in-the-wild" scenarios, i.e.,…

Dense semantic segmentation is essential for autonomous driving, yet many multi-modal datasets lack pixel-level annotations. The Zenseact Open Dataset (ZOD) provides rich multi-sensor data but only bounding-box labels, limiting its use for…

Point clouds are a key modality used for perception in autonomous vehicles, providing the means for a robust geometric understanding of the surrounding environment. However despite the sensor outputs from autonomous vehicles being naturally…

In recent years, significant progress has been made in collecting large-scale datasets to improve segmentation and autonomous driving models. These large-scale datasets are often dominated by common environmental conditions such as "Clear…