相关论文: PivotNet: Vectorized Pivot Learning for End-to-end…

Point cloud processing has become a cornerstone technology in many 3D vision tasks. However, arbitrary rotations introduce variations in point cloud orientations, posing a long-standing challenge for effective representation learning. The…

The construction of online vectorized High-Definition (HD) maps is critical for downstream prediction and planning. Recent efforts have built strong baselines for this task, however, shapes and relations of instances in urban road systems…

The construction of Vectorized High-Definition (HD) map typically requires capturing both category and geometry information of map elements. Current state-of-the-art methods often adopt solely either point-level or instance-level…

As overparameterized models become increasingly prevalent, training loss alone offers limited insight into generalization performance. While smoothness has been linked to improved generalization across various settings, directly enforcing…

High-definition (HD) map is a fundamental component of autonomous driving systems, as it can provide precise environmental information about driving scenes. Recent work on vectorized map generation could produce merely 65% local map…

In this research, we present an end-to-end data-driven pipeline for determining the long-term stability status of objects within a given environment, specifically distinguishing between static and dynamic objects. Understanding object…

Lane topology, which is usually modeled by a centerline graph, is essential for high-level autonomous driving. For a high-quality graph, both topology connectivity and spatial continuity of centerline segments are critical. However, most of…

Real-scanned point clouds are often incomplete due to viewpoint, occlusion, and noise, which hampers 3D geometric modeling and perception. Existing point cloud completion methods tend to generate global shape skeletons and hence lack fine…

In this paper, we present a novel end-to-end deep neural network model for autonomous driving that takes monocular image sequence as input, and directly generates the steering control angle. Firstly, we model the end-to-end driving problem…

Seeking effective neural networks is a critical and practical field in deep learning. Besides designing the depth, type of convolution, normalization, and nonlinearities, the topological connectivity of neural networks is also important.…

Despite their success, modern convolutional neural networks (CNNs) exhibit fundamental limitations, including data inefficiency, poor out-of-distribution generalization, and vulnerability to adversarial perturbations. These shortcomings can…

We propose a self-supervised learning framework that uses unlabeled monocular video sequences to generate large-scale supervision for training a Visual Odometry (VO) frontend, a network which computes pointwise data associations across…

Point cloud-based object/place recognition remains a problem of interest in applications such as autonomous driving, scene reconstruction, and localization. Extracting a meaningful global descriptor from a query point cloud that can be…

3D shape is a crucial but heavily underutilized cue in today's computer vision systems, mostly due to the lack of a good generic shape representation. With the recent availability of inexpensive 2.5D depth sensors (e.g. Microsoft Kinect),…

In this paper, we propose a novel trajectory learning method that exploits motion trajectories on topological map using recurrent neural network for temporally consistent geolocalization of object. Inspired by human's ability to both be…

In point cloud analysis, point-based methods have rapidly developed in recent years. These methods have recently focused on concise MLP structures, such as PointNeXt, which have demonstrated competitiveness with Convolutional and…

This work proposes a novel hybrid approach for vision-only navigation of mobile robots, which combines advances of both deep learning approaches and classical model-based planning algorithms. Today, purely data-driven end-to-end models are…

Autonomous vehicles have limited computational resources and thus require efficient control systems. The cost and size of sensors have limited the development of self-driving cars. To overcome these restrictions, this study proposes an…

There is an increasing need of continual learning in dynamic systems, such as the self-driving vehicle, the surveillance drone, and the robotic system. Such a system requires learning from the data stream, training the model to preserve…

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…