相关论文: Motion Inspired Unsupervised Perception and Predic…

In this paper, a multi-modal 360$^{\circ}$ framework for 3D object detection and tracking for autonomous vehicles is presented. The process is divided into four main stages. First, images are fed into a CNN network to obtain instance…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

This paper presents a novel approach to improving autonomous vehicle control in environments lacking clear road markings by integrating a diffusion-based motion predictor within an Active Inference Framework (AIF). Using a simulated parking…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

Autonomous mobile robots require accurate human motion predictions to safely and efficiently navigate among pedestrians, whose behavior may adapt to environmental changes. This paper introduces a self-supervised continual learning framework…

With the human pursuit of knowledge, open-set object detection (OSOD) has been designed to identify unknown objects in a dynamic world. However, an issue with the current setting is that all the predicted unknown objects share the same…

Motion, measured via optical flow, provides a powerful cue to discover and learn objects in images and videos. However, compared to using appearance, it has some blind spots, such as the fact that objects become invisible if they do not…

We present a self-supervised learning framework to estimate the individual object motion and monocular depth from video. We model the object motion as a 6 degree-of-freedom rigid-body transformation. The instance segmentation mask is…

Understanding human motion is crucial for accurate pedestrian trajectory prediction. Conventional methods typically rely on supervised learning, where ground-truth labels are directly optimized against predicted trajectories. This amplifies…

We introduce ForeSight, a novel joint detection and forecasting framework for vision-based 3D perception in autonomous vehicles. Traditional approaches treat detection and forecasting as separate sequential tasks, limiting their ability to…

Understanding world dynamics is crucial for planning in autonomous driving. Recent methods attempt to achieve this by learning a 3D occupancy world model that forecasts future surrounding scenes based on current observation. However, 3D…

The unsupervised pretraining of object detectors has recently become a key component of object detector training, as it leads to improved performance and faster convergence during the supervised fine-tuning stage. Existing unsupervised…

A key challenge for an agent learning to interact with the world is to reason about physical properties of objects and to foresee their dynamics under the effect of applied forces. In order to scale learning through interaction to many…

We propose a data-driven scene flow estimation algorithm exploiting the observation that many 3D scenes can be explained by a collection of agents moving as rigid bodies. At the core of our method lies a deep architecture able to reason at…

The ability to reliably perceive the environmental states, particularly the existence of objects and their motion behavior, is crucial for autonomous driving. In this work, we propose an efficient deep model, called MotionNet, to jointly…

Semi-supervised 3D object detection is a common strategy employed to circumvent the challenge of manually labeling large-scale autonomous driving perception datasets. Pseudo-labeling approaches to semi-supervised learning adopt a…

As autonomous driving systems mature, motion forecasting has received increasing attention as a critical requirement for planning. Of particular importance are interactive situations such as merges, unprotected turns, etc., where predicting…

Extracting and predicting object structure and dynamics from videos without supervision is a major challenge in machine learning. To address this challenge, we adopt a keypoint-based image representation and learn a stochastic dynamics…

Recognizing abnormal events such as traffic violations and accidents in natural driving scenes is essential for successful autonomous driving and advanced driver assistance systems. However, most work on video anomaly detection suffers from…

In this paper, we presented a preliminary study for tactical driver behavior detection from untrimmed naturalistic driving recordings. While supervised learning based detection is a common approach, it suffers when labeled data is scarce.…