相关论文: InstaGraM: Instance-level Graph Modeling for Vecto…
To reduce the reliance on high-definition (HD) maps, a growing trend in autonomous driving is leveraging onboard sensors to generate vectorized maps online. However, current methods are mostly constrained by processing only single-frame…
The lack of generalization in learning-based autonomous driving applications is shown by the narrow range of road scenarios that vehicles can currently cover. A generalizable approach should capture many distinct road structures and…
Online high-definition (HD) map construction is crucial for scaling autonomous driving systems. While Transformer-based methods have become prevalent in online HD map construction, most existing approaches overlook the inherent spatial…
Traditional decision and planning frameworks for self-driving vehicles (SDVs) scale poorly in new scenarios, thus they require tedious hand-tuning of rules and parameters to maintain acceptable performance in all foreseeable cases.…
Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…
Recent 2D-to-3D human pose estimation works tend to utilize the graph structure formed by the topology of the human skeleton. However, we argue that this skeletal topology is too sparse to reflect the body structure and suffer from serious…
Reliable high-definition (HD) map construction is crucial for the driving safety of autonomous vehicles. Although recent studies demonstrate improved performance, their generalization capability across unfamiliar driving scenes remains…
High-definition (HD) maps offer extensive and accurate environmental information about the driving scene, making them a crucial and essential element for planning within autonomous driving systems. To avoid extensive efforts from manual…
Autonomous driving systems benefit from high-definition (HD) maps that provide critical information about road infrastructure. The online construction of HD maps offers a scalable approach to generate local maps from on-board sensors.…
Graph embedding is a popular algorithmic approach for creating vector representations for individual vertices in networks. Training these algorithms at scale is important for creating embeddings that can be used for classification, ranking,…
Along with the rapid growth of autonomous vehicles (AVs), more and more demands are required for environment perception technology. Among others, HD mapping has become one of the more prominent roles in helping the vehicle realize essential…
High-definition maps (HD maps) play a crucial role in the development, safety validation, and operation of highly automated vehicles. Efficiently collecting up-to-date sensor data from road segments and obtaining accurate maps from these…
End-to-end autonomous driving with its holistic optimization capabilities, has gained increasing traction in academia and industry. Vectorized representations, which preserve instance-level topological information while reducing…
Hypergraphs, increasingly utilised for modelling complex and diverse relationships in modern networks, gain much attention representing intricate higher-order interactions. Among various challenges, cohesive subgraph discovery is one of the…
This paper presents a vector HD-mapping algorithm that formulates the mapping as a tracking task and uses a history of memory latents to ensure consistent reconstructions over time. Our method, MapTracker, accumulates a sensor stream into…
Topological correctness plays a critical role in many image segmentation tasks, yet most networks are trained using pixel-wise loss functions, such as Dice, neglecting topological accuracy. Existing topology-aware methods often lack robust…
In autonomous driving, the high-definition (HD) map plays a crucial role in localization and planning. Recently, several methods have facilitated end-to-end online map construction in DETR-like frameworks. However, little attention has been…
Recent development in autonomous driving involves high-level computer vision and detailed road scene understanding. Today, most autonomous vehicles are using mediated perception approach for path planning and control, which highly rely on…
The success of motion prediction for autonomous driving relies on integration of information from the HD maps. As maps are naturally graph-structured, investigation on graph neural networks (GNNs) for encoding HD maps is burgeoning in…
Graph representation learning has recently been applied to a broad spectrum of problems ranging from computer graphics and chemistry to high energy physics and social media. The popularity of graph neural networks has sparked interest, both…