相关论文: VAD: Vectorized Scene Representation for Efficient…

For an autonomous vehicle to plan a path in its environment, it must be able to accurately forecast the trajectory of all dynamic objects in its proximity. While many traditional methods encode observations in the scene to solve this…

High-definition (HD) map serves as the essential infrastructure of autonomous driving. In this work, we build up a systematic vectorized map annotation framework (termed VMA) for efficiently generating HD map of large-scale driving scene.…

Behavior prediction in dynamic, multi-agent systems is an important problem in the context of self-driving cars, due to the complex representations and interactions of road components, including moving agents (e.g. pedestrians and vehicles)…

Vectorized maps are indispensable for precise navigation and the safe operation of autonomous vehicles. Traditional methods for constructing these maps fall into two categories: offline techniques, which rely on expensive, labor-intensive…

Autonomous driving requires an understanding of the static environment from sensor data. Learned Bird's-Eye View (BEV) encoders are commonly used to fuse multiple inputs, and a vector decoder predicts a vectorized map representation from…

Scene categorization is a useful precursor task that provides prior knowledge for many advanced computer vision tasks with a broad range of applications in content-based image indexing and retrieval systems. Despite the success of data…

Autonomous vehicle navigation in structured environments requires planners capable of generating time-optimal, collision-free trajectories that satisfy dynamic and kinematic constraints. We introduce V*, a graph-based motion planner that…

The current approach for new Advanced Driver Assistance System (ADAS) and Connected and Automated Driving (CAD) function development involves a significant amount of public road testing which is inefficient due to the number miles that need…

A self-driving vehicle must understand its environment to determine the appropriate action. Traditional autonomy systems rely on object detection to find the agents in the scene. However, object detection assumes a discrete set of objects…

Trajectory planning involves generating a series of space points to be followed in the near future. However, due to the complex and uncertain nature of the driving environment, it is impractical for autonomous vehicles~(AVs) to exhaustively…

End-to-end differentiable learning for autonomous driving (AD) has recently become a prominent paradigm. One main bottleneck lies in its voracious appetite for high-quality labeled data e.g. 3D bounding boxes and semantic segmentation,…

Autonomous driving is a complex and challenging task that aims at safe motion planning through scene understanding and reasoning. While vision-only autonomous driving methods have recently achieved notable performance, through enhanced…

The implementation of Autonomous Driving (AD) technologies within urban environments presents significant challenges. These challenges necessitate the development of advanced perception systems and motion planning algorithms capable of…

Vision-language models (VLMs) have recently emerged as powerful representation learning systems that align visual observations with natural language concepts, offering new opportunities for semantic reasoning in safety-critical autonomous…

Vision-Language-Action (VLA) models have emerged as a promising framework for end-to-end autonomous driving. However, existing VLAs typically rely on sparse action supervision, which underutilizes their powerful scene understanding and…

Implicit neural representations have shown promising potential for the 3D scene reconstruction. Recent work applies it to autonomous 3D reconstruction by learning information gain for view path planning. Effective as it is, the computation…

In the context of autonomous driving, the significance of effective feature learning is widely acknowledged. While conventional 3D self-supervised pre-training methods have shown widespread success, most methods follow the ideas originally…

Autonomous driving requires accurate scene understanding, including road geometry, traffic agents, and their semantic relationships. In online HD map generation scenarios, raster-based representations are well-suited to vision models but…

End-to-end autonomous driving (E2E-AD) has emerged as a promising paradigm that unifies perception, prediction, and planning into a holistic, data-driven framework. However, achieving robustness to varying camera viewpoints, a common…

Most existing autonomous-driving datasets (e.g., KITTI, nuScenes, and the Waymo Perception Dataset), collected by human-driving mode or unidentified driving mode, can only serve as early training for the perception and prediction of…