相关论文: Collaborative Dynamic 3D Scene Graphs for Automate…

We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…

Autonomous vehicles rely on camera, LiDAR, and radar sensors to navigate the environment. Adverse weather conditions like snow, rain, and fog are known to be problematic for both camera and LiDAR-based perception systems. Currently, it is…

Maintaining situational awareness in complex driving scenarios is challenging. It requires continuously prioritizing attention among extensive scene entities and understanding how prominent hazards might affect the ego vehicle. While…

This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a LiDAR-panoramic camera suite. Existing approaches often struggle to…

Examining graphs for similarity is a well-known challenge, but one that is mandatory for grouping graphs together. We present a data-driven method to cluster traffic scenes that is self-supervised, i.e. without manual labelling. We leverage…

Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain…

We present a novel synthetically generated multi-modal dataset, SCaRL, to enable the training and validation of autonomous driving solutions. Multi-modal datasets are essential to attain the robustness and high accuracy required by…

Current approaches to 3D scene graph generation rely on dedicated depth sensors, such as LiDAR or RGB-D cameras, for metric 3D reconstruction. This limits deployment to specialized robotic platforms and excludes settings where only RGB…

The need for large amounts of training and validation data is a huge concern in scaling AI algorithms for autonomous driving. Semantic Image Synthesis (SIS), or label-to-image translation, promises to address this issue by translating…

Robot planning in partially observable domains is difficult, because a robot needs to estimate the current state and plan actions at the same time. When the domain includes many objects, reasoning about the objects and their relationships…

Road boundaries, or curbs, provide autonomous vehicles with essential information when interpreting road scenes and generating behaviour plans. Although curbs convey important information, they are difficult to detect in complex urban…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

Accurately predicting interactive road agents' future trajectories and planning a socially compliant and human-like trajectory accordingly are important for autonomous vehicles. In this paper, we propose a planning-centric prediction neural…

Long-term situation prediction plays a crucial role in the development of intelligent vehicles. A major challenge still to overcome is the prediction of complex downtown scenarios with multiple road users, e.g., pedestrians, bikes, and…

For a multi-robot team that collaboratively explores an unknown environment, it is of vital importance that collected information is efficiently shared among robots in order to support exploration and navigation tasks. Practical constraints…

Semantic scene completion (SSC) jointly predicts the semantics and geometry of the entire 3D scene, which plays an essential role in 3D scene understanding for autonomous driving systems. SSC has achieved rapid progress with the help of…

High-definition road maps play a crucial role in the functionality and verification of highly automated driving functions. These contain precise information about the road network, geometry, condition, as well as traffic signs. Despite…

Enabling robots to autonomously discover high-level spatial concepts (e.g., rooms and walls) from primitive geometric observations (e.g., planar surfaces) within 3D Scene Graphs is essential for robust indoor navigation and mapping. These…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…

Autonomous exploration requires a robot to explore an unknown environment while constructing an accurate map using Simultaneous Localization and Mapping (SLAM) techniques. Without prior information, the exploration performance is usually…