相关论文: ONCE-3DLanes: Building Monocular 3D Lane Detection

Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. However, the absence of accurate and automated registration…

LiDAR (Light Detection And Ranging) is an essential and widely adopted sensor for autonomous vehicles, particularly for those vehicles operating at higher levels (L4-L5) of autonomy. Recent work has demonstrated the promise of deep-learning…

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…

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect…

Accurate lane detection is critical for navigation in autonomous vehicles, particularly the active lane which demarcates the single road space that the vehicle is currently traveling on. Recent state-of-the-art lane detection algorithms…

Light Detection And Ranging (LiDAR) has been widely used in autonomous vehicles for perception and localization. However, the cost of a high-resolution LiDAR is still prohibitively expensive, while its low-resolution counterpart is much…

Recent automotive vision work has focused almost exclusively on processing forward-facing cameras. However, future autonomous vehicles will not be viable without a more comprehensive surround sensing, akin to a human driver, as can be…

We propose a novel semi-supervised active learning (SSAL) framework for monocular 3D object detection with LiDAR guidance (MonoLiG), which leverages all modalities of collected data during model development. We utilize LiDAR to guide the…

Perceiving the physical world in 3D is fundamental for self-driving applications. Although temporal motion is an invaluable resource to human vision for detection, tracking, and depth perception, such features have not been thoroughly…

Lane detection in driving scenes is an important module for autonomous vehicles and advanced driver assistance systems. In recent years, many sophisticated lane detection methods have been proposed. However, most methods focus on detecting…

Inspired by human driving focus, this research pioneers networks augmented with Focusing Sampling, Partial Field of View Evaluation, Enhanced FPN architecture and Directional IoU Loss - targeted innovations addressing obstacles to precise…

Localization in high-level Autonomous Driving (AD) systems is highly security critical. While the popular Multi-Sensor Fusion (MSF) based design can be more robust against single-source sensor spoofing attacks, it is found recently that…

Monocular 3D object detection is an essential task in computer vision, and it has several applications in robotics and virtual reality. However, 3D object detectors are typically trained in a fully supervised way, relying extensively on 3D…

3D lane detection has emerged as a critical challenge in autonomous driving, encompassing identification and localization of lane markings and the 3D road surface. Conventional 3D methods detect lanes from dense birds-eye-viewed (BEV)…

A map, as crucial information for downstream applications of an autonomous driving system, is usually represented in lanelines or centerlines. However, existing literature on map learning primarily focuses on either detecting geometry-based…

Lane detection plays a critical role in the field of autonomous driving. Prevailing methods generally adopt basic concepts (anchors, key points, etc.) from object detection and segmentation tasks, while these approaches require manual…

In vision-and-language navigation (VLN), an embodied agent is required to navigate in realistic 3D environments following natural language instructions. One major bottleneck for existing VLN approaches is the lack of sufficient training…

Accurately depicting the complex traffic scene is a vital component for autonomous vehicles to execute correct judgments. However, existing benchmarks tend to oversimplify the scene by solely focusing on lane perception tasks. Observing…

Current 3D object detectors for autonomous driving are almost entirely trained on human-annotated data. Although of high quality, the generation of such data is laborious and costly, restricting them to a few specific locations and object…

Existing simultaneous localization and mapping (SLAM) algorithms are not robust in challenging low-texture environments because there are only few salient features. The resulting sparse or semi-dense map also conveys little information for…