相关论文: VAD: Vectorized Scene Representation for Efficient…
Autonomous vehicles need a complete map of their surroundings to plan and act. This has sparked research into the tasks of 3D occupancy prediction, 3D scene completion, and 3D panoptic scene completion, which predict a dense map of the ego…
While Deep Neural Networks (DNNs) have established the fundamentals of DNN-based autonomous driving systems, they may exhibit erroneous behaviors and cause fatal accidents. To resolve the safety issues of autonomous driving systems, a…
In autonomous vehicles (AVs), early warning systems rely on collision prediction to ensure occupant safety. However, state-of-the-art methods using deep convolutional networks either fail at modeling collisions or are too expensive/slow,…
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…
In autonomous driving tasks, scene understanding is the first step towards predicting the future behavior of the surrounding traffic participants. Yet, how to represent a given scene and extract its features are still open research…
Precisely predicting the future trajectories of surrounding traffic participants is a crucial but challenging problem in autonomous driving, due to complex interactions between traffic agents, map context and traffic rules. Vector-based…
Accurate trajectory prediction has long been a major challenge for autonomous driving (AD). Traditional data-driven models predominantly rely on statistical correlations, often overlooking the causal relationships that govern traffic…
World models envision potential future states based on various ego actions. They embed extensive knowledge about the driving environment, facilitating safe and scalable autonomous driving. Most existing methods primarily focus on either…
Traditional visual place recognition (VPR) methods generally use frame-based cameras, which is easy to fail due to dramatic illumination changes or fast motions. In this paper, we propose an end-to-end visual place recognition network for…
The perception of high-definition maps is an integral component of environmental perception in autonomous driving systems. Existing research have often focused on online construction of high-definition maps. For instance, the Maptr[9]…
Rich semantic information extraction plays a vital role on next-generation intelligent vehicles. Currently there is great amount of research focusing on fundamental applications such as 6D pose detection, road scene semantic segmentation,…
Safety-critical traffic simulation plays a crucial role in evaluating autonomous driving systems under rare and challenging scenarios. However, existing approaches often generate unrealistic scenarios due to insufficient consideration of…
Video Anomaly Detection (VAD) represents a challenging and prominent research task within computer vision. In recent years, Pose-based Video Anomaly Detection (PAD) has drawn considerable attention from the research community due to several…
In autonomous driving and robotics, ensuring road safety and reliable decision-making critically depends on out-of-distribution (OOD) segmentation. While numerous methods have been proposed to detect anomalous objects on the road,…
Despite impressive advancements in Autonomous Driving Systems (ADS), navigation in complex road conditions remains a challenging problem. There is considerable evidence that evaluating the subjective risk level of various decisions can…
Motion planning in uncertain environments like complex urban areas is a key challenge for autonomous vehicles (AVs). The aim of our research is to investigate how AVs can navigate crowded, unpredictable scenarios with multiple pedestrians…
In the realm of autonomous driving, accurately detecting surrounding obstacles is crucial for effective decision-making. Traditional methods primarily rely on 3D bounding boxes to represent these obstacles, which often fail to capture the…
While end-to-end autonomous driving models show promising results, their practical deployment is often hindered by large model sizes, a reliance on expensive LiDAR sensors and computationally intensive BEV feature representations. This…
Rigorous Verification and Validation (V&V) of Autonomous Driving Functions (ADFs) is paramount for ensuring the safety and public acceptance of Autonomous Vehicles (AVs). Current validation relies heavily on simulation to achieve sufficient…
The challenge of navigation in environments with dynamic objects continues to be a central issue in the study of autonomous agents. While predictive methods hold promise, their reliance on precise state information makes them less practical…