相关论文: On Offline Evaluation of 3D Object Detection for A…

An accurate model of the environment and the dynamic agents acting in it offers great potential for improving motion planning. We present MILE: a Model-based Imitation LEarning approach to jointly learn a model of the world and a policy for…

A longstanding challenge for self-driving development is simulating dynamic driving scenarios seeded from recorded driving logs. In pursuit of this functionality, we apply tools from discrete sequence modeling to model how vehicles,…

The design and evaluation of complex systems can benefit from a software simulation - sometimes called a digital twin. The simulation can be used to characterize system performance or to test its performance under conditions that are…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

3D object tracking is a critical task in autonomous driving systems. It plays an essential role for the system's awareness about the surrounding environment. At the same time there is an increasing interest in algorithms for autonomous cars…

Multi-object tracking is a cornerstone capability of any robotic system. The quality of tracking is largely dependent on the quality of the detector used. In many applications, such as autonomous vehicles, it is preferable to over-detect…

Robust detection of moving vehicles is a critical task for any autonomously operating outdoor robot or self-driving vehicle. Most modern approaches for solving this task rely on training image-based detectors using large-scale vehicle…

This report presents our method which wins the nuScenes3D Detection Challenge [17] held in Workshop on Autonomous Driving(WAD, CVPR 2019). Generally, we utilize sparse 3D convolution to extract rich semantic features, which are then fed…

Autonomous vehicles require knowledge of the surrounding road layout, which can be predicted by state-of-the-art CNNs. This work addresses the current lack of data for determining lane instances, which are needed for various driving…

Road traffic accidents remain a significant global concern, with human error, particularly distracted and impaired driving, among the leading causes. This study introduces a novel driver behaviour classification system that uses external…

Robots and autonomous vehicles should be aware of what happens in their surroundings. The segmentation and tracking of moving objects are essential for reliable path planning, including collision avoidance. We investigate this estimation…

Lane-level scene annotations provide invaluable data in autonomous vehicles for trajectory planning in complex environments such as urban areas and cities. However, obtaining such data is time-consuming and expensive since lane annotations…

Automatic detection of traffic accidents is an important emerging topic in traffic monitoring systems. Nowadays many urban intersections are equipped with surveillance cameras connected to traffic management systems. Therefore, computer…

In a previous study, we presented VT-Lane, a three-step framework for real-time vehicle detection, tracking, and turn movement classification at urban intersections. In this study, we present a case study incorporating the highly accurate…

Open-world perception aims to develop a model adaptable to novel domains and various sensor configurations and can understand uncommon objects and corner cases. However, current research lacks sufficiently comprehensive open-world 3D…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

Autonomous driving (AD) systems are often built and tested in a modular fashion, where the performance of different modules is measured using task-specific metrics. These metrics should be chosen so as to capture the downstream impact of…

To autonomously control vehicles, driving agents use outputs from a combination of machine-learning (ML) models, controller logic, and custom modules. Although numerous prior works have shown that adversarial examples can mislead ML models…

Lidar based 3D object detection is inevitable for autonomous driving, because it directly links to environmental understanding and therefore builds the base for prediction and motion planning. The capacity of inferencing highly sparse 3D…

This paper tackles the 3D object detection problem, which is of vital importance for applications such as autonomous driving. Our framework uses a Machine Learning (ML) pipeline on a combination of monocular camera and LiDAR data to detect…