相关论文: PriorLane: A Prior Knowledge Enhanced Lane Detecti…

Deep learning and computer vision techniques have become increasingly important in the development of self-driving cars. These techniques play a crucial role in enabling self-driving cars to perceive and understand their surroundings,…

Object skeletons offer a concise representation of structural information, capturing essential aspects of posture and orientation that are crucial for autonomous driving applications. However, a unified architecture that simultaneously…

The lane number that the vehicle is traveling in is a key factor in intelligent vehicle fields. Many lane detection algorithms were proposed and if we can perfectly detect the lanes, we can directly calculate the lane number from the lane…

High-Definition Maps (HD maps) are essential for the precise navigation and decision-making of autonomous vehicles, yet their creation and upkeep present significant cost and timeliness challenges. The online construction of HD maps using…

We present ONCE-3DLanes, a real-world autonomous driving dataset with lane layout annotation in 3D space. Conventional 2D lane detection from a monocular image yields poor performance of following planning and control tasks in autonomous…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

Autonomous terrestrial vehicles must be capable of perceiving traffic lights and recognizing their current states to share the streets with human drivers. Most of the time, human drivers can easily identify the relevant traffic lights. To…

Lane is critical in the vision navigation system of the intelligent vehicle. Naturally, lane is a traffic sign with high-level semantics, whereas it owns the specific local pattern which needs detailed low-level features to localize…

Accurate and efficient lane detection in 3D space is essential for autonomous driving systems, where robust generalization is the foremost requirement for 3D lane detection algorithms. Considering the extensive variation in lane structures…

While the majority of today's object class models provide only 2D bounding boxes, far richer output hypotheses are desirable including viewpoint, fine-grained category, and 3D geometry estimate. However, models trained to provide richer…

Transfer learning is a proven technique in 2D computer vision to leverage the large amount of data available and achieve high performance with datasets limited in size due to the cost of acquisition or annotation. In 3D, annotation is known…

We propose a general way to integrate procedural knowledge of a domain into deep learning models. We apply it to the case of video prediction, building on top of object-centric deep models and show that this leads to a better performance…

While supervised detection and classification frameworks in autonomous driving require large labelled datasets to converge, Unsupervised Domain Adaptation (UDA) approaches, facilitated by synthetic data generated from photo-real simulated…

Traffic videos inherently differ from generic videos in their stationary camera setup, thus providing a strong motion prior where objects often move in a specific direction over a short time interval. Existing works predominantly employ…

The state of the art in 3D object detection using sensor fusion heavily relies on calibration quality, which is difficult to maintain in large scale deployment outside a lab environment. We present the first calibration-free approach for 3D…

The rapid advancement of autonomous systems, including self-driving vehicles and drones, has intensified the need to forge true Spatial Intelligence from multi-modal onboard sensor data. While foundation models excel in single-modal…

Lane detection (LD) plays a crucial role in enhancing the L2+ capabilities of autonomous driving, capturing widespread attention. The Post-Processing Quantization (PTQ) could facilitate the practical application of LD models, enabling fast…

Autonomous racing has rapidly gained research attention. Traditionally, racing cars rely on 2D LiDAR as their primary visual system. In this work, we explore the integration of an event camera with the existing system to provide enhanced…

Autonomous vehicles need to perceive not only physical elements in the driving scene, such as lane lines and traffic lights, but also logical elements like lane centerlines and their topology. Existing lane topology reasoning methods…

Detecting lane lines from sensors is becoming an increasingly significant part of autonomous driving systems. However, less development has been made on high-definition lane-level mapping based on aerial images, which could automatically…