相关论文: ST-P3: End-to-end Vision-based Autonomous Driving …

End-to-end autonomous driving is a fully differentiable machine learning system that takes raw sensor input data and other metadata as prior information and directly outputs the ego vehicle's control signals or planned trajectories. This…

Steering estimation is a critical task in autonomous driving, traditionally relying on 2D image-based models. In this work, we explore the advantages of incorporating 3D spatial information through hybrid architectures that combine 3D…

Temporal understanding in autonomous driving (AD) remains a significant challenge, even for recent state-of-the-art (SoTA) Vision-Language Models (VLMs). Prior work has introduced datasets and benchmarks aimed at improving temporal…

We present a new interaction mechanism of prediction and planning for end-to-end autonomous driving, called PPAD (Iterative Interaction of Prediction and Planning Autonomous Driving), which considers the timestep-wise interaction to better…

Efficient reasoning about the semantic, spatial, and temporal structure of a scene is a crucial prerequisite for autonomous driving. We present NEural ATtention fields (NEAT), a novel representation that enables such reasoning for…

This study aims to improve the performance and generalization capability of end-to-end autonomous driving with scene understanding leveraging deep learning and multimodal sensor fusion techniques. The designed end-to-end deep neural network…

We propose a stereo vision-based approach for tracking the camera ego-motion and 3D semantic objects in dynamic autonomous driving scenarios. Instead of directly regressing the 3D bounding box using end-to-end approaches, we propose to use…

Learning a human-like driving policy from large-scale driving demonstrations is promising, but the uncertainty and non-deterministic nature of planning make it challenging. Existing learning-based planning methods follow a deterministic…

Considerable research efforts have been devoted to the development of motion planning algorithms, which form a cornerstone of the autonomous driving system (ADS). Nonetheless, acquiring an interactive and secure trajectory for the ADS…

Spatial-temporal forecasting is crucial and widely applicable in various domains such as traffic, energy, and climate. Benefiting from the abundance of unlabeled spatial-temporal data, self-supervised methods are increasingly adapted to…

Existing pedestrian attribute recognition (PAR) algorithms are mainly developed based on a static image, however, the performance is unreliable in challenging scenarios, such as heavy occlusion, motion blur, etc. In this work, we propose to…

A robust awareness of how dynamic scenes evolve is essential for Autonomous Driving systems, as they must accurately detect, track, and predict the behaviour of surrounding obstacles. Traditional perception pipelines that rely on modular…

LiDAR-based 3D object detection presents significant challenges due to the inherent sparsity of LiDAR points. A common solution involves long-term temporal LiDAR data to densify the inputs. However, efficiently leveraging spatial-temporal…

We propose a late-to-early recurrent feature fusion scheme for 3D object detection using temporal LiDAR point clouds. Our main motivation is fusing object-aware latent embeddings into the early stages of a 3D object detector. This feature…

Autonomous car racing is a challenging task, as it requires precise applications of control while the vehicle is operating at cornering speeds. Traditional autonomous pipelines require accurate pre-mapping, localization, and planning which…

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…

Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…

Real-time monocular 3D reconstruction is a challenging problem that remains unsolved. Although recent end-to-end methods have demonstrated promising results, tiny structures and geometric boundaries are hardly captured due to their…

End-to-end autonomous driving models generate future trajectories from multi-view inputs, improving system integration but introducing opaque decisions and hard-to-localize risks. Existing methods either rely on auxiliary monitoring models…

Perception and prediction are two separate modules in the existing autonomous driving systems. They interact with each other via hand-picked features such as agent bounding boxes and trajectories. Due to this separation, prediction, as a…