相关论文: A Lightweight Machine Learning Pipeline for LiDAR-…

Autonomous vehicles (AVs) rely heavily on LiDAR sensors for accurate 3D perception. We show a novel class of low-cost, passive LiDAR spoofing attacks that exploit mirror-like surfaces to inject or remove objects from an AV's perception.…

Simulation-based testing of automated driving systems (ADS) is the industry standard, being a controlled, safe, and cost-effective alternative to real-world testing. Despite these advantages, virtual simulations often fail to accurately…

This paper presents a safe imitation learning approach for autonomous vehicle driving, with attention on real-life human driving data and experimental validation. In order to increase occupant's acceptance and gain drivers' trust, the…

The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation…

In autonomous driving, the novel objects and lack of annotations challenge the traditional 3D LiDAR semantic segmentation based on deep learning. Few-shot learning is a feasible way to solve these issues. However, currently few-shot…

With the advancement of computing resources, an increasing number of Neural Networks (NNs) are appearing for image detection and segmentation appear. However, these methods usually accept as input a RGB 2D image. On the other side, Light…

For developing safe Autonomous Driving Systems (ADS), rigorous testing is required before they are deemed safe for road deployments. Since comprehensive conventional physical testing is impractical due to cost and safety concerns, Virtual…

Autonomous vehicles are increasingly introduced into our lives. Yet, people's misunderstanding and mistrust have become the major obstacles to the use of these technologies. In response to this problem, proper work must be done to increase…

For autonomous driving, traversability analysis is one of the most basic and essential tasks. In this paper, we propose a novel LiDAR-based terrain modeling approach, which could output stable, complete and accurate terrain models and…

Reliable and accurate lane detection has been a long-standing problem in the field of autonomous driving. In recent years, many approaches have been developed that use images (or videos) as input and reason in image space. In this paper we…

Diffusion models (DMs) excel in photo-realistic image synthesis, but their adaptation to LiDAR scene generation poses a substantial hurdle. This is primarily because DMs operating in the point space struggle to preserve the curve-like…

As perception models continue to develop, the need for large-scale datasets increases. However, data annotation remains far too expensive to effectively scale and meet the demand. Synthetic datasets provide a solution to boost model…

In the spectrum of vision-based autonomous driving, vanilla end-to-end models are not interpretable and suboptimal in performance, while mediated perception models require additional intermediate representations such as segmentation masks…

LiDAR sensors play a crucial role in various applications, especially in autonomous driving. Current research primarily focuses on optimizing perceptual models with point cloud data as input, while the exploration of deeper cognitive…

Semantic scene understanding is important for various applications. In particular, self-driving cars need a fine-grained understanding of the surfaces and objects in their vicinity. Light detection and ranging (LiDAR) provides precise…

Accurate localization is of crucial importance for autonomous driving tasks. Nowadays, we have seen a lot of sensor-rich vehicles (e.g. Robo-taxi) driving on the street autonomously, which rely on high-accurate sensors (e.g. Lidar and RTK…

LiDAR (Light Detection and Ranging) is a useful sensing technique and an important source of data for autonomous vehicles (AVs). In this publication we present the results of a study undertaken to understand the impact of automotive paint…

Depth completion aims to predict a dense depth map from a sparse depth input. The acquisition of dense ground truth annotations for depth completion settings can be difficult and, at the same time, a significant domain gap between real…

This paper describes a verification case study on an autonomous racing car with a neural network (NN) controller. Although several verification approaches have been proposed over the last year, they have only been evaluated on…

End-to-end approaches to autonomous driving have high sample complexity and are difficult to scale to realistic urban driving. Simulation can help end-to-end driving systems by providing a cheap, safe, and diverse training environment. Yet…