相关论文: RS2G: Data-Driven Scene-Graph Extraction and Embed…

The growing demand for robust scene understanding in mobile robotics and autonomous driving has highlighted the importance of integrating multiple sensing modalities. By combining data from diverse sensors like cameras and LIDARs, fusion…

Learning-based methods have become increasingly popular for solving vehicle routing problems due to their near-optimal performance and fast inference speed. Among them, the combination of deep reinforcement learning and graph representation…

Representing diverse and plausible future trajectories is critical for motion forecasting in autonomous driving. However, efficiently capturing these trajectories in a compact set remains challenging. This study introduces a novel approach…

Dynamic graphs (DGs), which capture time-evolving relationships between graph entities, have widespread real-world applications. To efficiently encode DGs for downstream tasks, most dynamic graph neural networks follow the traditional…

Recently, road graph extraction has garnered increasing attention due to its crucial role in autonomous driving, navigation, etc. However, accurately and efficiently extracting road graphs remains a persistent challenge, primarily due to…

Graph alignment, which aims at identifying corresponding entities across multiple networks, has been widely applied in various domains. As the graphs to be aligned are usually constructed from different sources, the inconsistency issues of…

Dynamic Scene Graph Generation (DSGG) models how object relations evolve over time in videos. However, existing methods are trained only on annotated object pairs and lack guidance for non-related pairs, making it difficult to identify…

Encoding a driving scene into vector representations has been an essential task for autonomous driving that can benefit downstream tasks e.g. trajectory prediction. The driving scene often involves heterogeneous elements such as the…

An effective understanding of the environment and accurate trajectory prediction of surrounding dynamic obstacles are indispensable for intelligent mobile systems (e.g. autonomous vehicles and social robots) to achieve safe and high-quality…

Deep learning techniques have led to remarkable breakthroughs in the field of generic object detection and have spawned a lot of scene-understanding tasks in recent years. Scene graph has been the focus of research because of its powerful…

Traffic flow prediction plays a crucial role in alleviating traffic congestion and enhancing transport efficiency. While combining graph convolution networks with recurrent neural networks for spatial-temporal modeling is a common strategy…

For analysing real-world networks, graph representation learning is a popular tool. These methods, such as a graph autoencoder (GAE), typically rely on low-dimensional representations, also called embeddings, which are obtained through…

Collaborative decision-making is an essential capability for multi-robot systems, such as connected vehicles, to collaboratively control autonomous vehicles in accident-prone scenarios. Under limited communication bandwidth, capturing…

Maps are essential for diverse applications, such as vehicle navigation and autonomous robotics. Both require spatial models for effective route planning and localization. This paper addresses the challenge of road graph construction for…

Learning to infer graph representations and performing spatial reasoning in a complex surgical environment can play a vital role in surgical scene understanding in robotic surgery. For this purpose, we develop an approach to generate the…

Accurate long series forecasting of traffic information is critical for the development of intelligent traffic systems. We may benefit from the rapid growth of neural network analysis technology to better understand the underlying…

This work explores scene graphs as a distilled representation of high-level information for autonomous driving, applied to future driver-action prediction. Given the scarcity and strong imbalance of data samples, we propose a…

Scene Graph Generation (SGG) is a visual understanding task, aiming to describe a scene as a graph of entities and their relationships with each other. Existing works rely on location labels in form of bounding boxes or segmentation masks,…

Trajectory prediction in traffic scenes involves accurately forecasting the behaviour of surrounding vehicles. To achieve this objective it is crucial to consider contextual information, including the driving path of vehicles, road…

Automated lane changing is a critical feature for advanced autonomous driving systems. In recent years, reinforcement learning (RL) algorithms trained on traffic simulators yielded successful results in computing lane changing policies that…