相关论文: HPL-ViT: A Unified Perception Framework for Hetero…

Vehicle-to-Vehicle technologies have enabled autonomous vehicles to share information to see through occlusions, greatly enhancing perception performance. Nevertheless, existing works all focused on homogeneous traffic where vehicles are…

LiDAR sensors play a crucial role in various applications, especially in autonomous driving. Current research primarily focuses on optimizing perceptual models with point cloud data as input, while the exploration of deeper cognitive…

Employing Vehicle-to-Vehicle communication to enhance perception performance in self-driving technology has attracted considerable attention recently; however, the absence of a suitable open dataset for benchmarking algorithms has made it…

This paper presents a LiDAR-based end-to-end autonomous driving method with Vehicle-to-Everything (V2X) communication integration, termed V2X-Lead, to address the challenges of navigating unregulated urban scenarios under mixed-autonomy…

In this paper, we investigate the application of Vehicle-to-Everything (V2X) communication to improve the perception performance of autonomous vehicles. We present a robust cooperative perception framework with V2X communication using a…

We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…

Reliable and accurate 3D object detection is a necessity for safe autonomous driving. Although LiDAR sensors can provide accurate 3D point cloud estimates of the environment, they are also prohibitively expensive for many settings.…

End-to-end autonomous driving solutions, which directly process multimodal sensory data and output fine-grained control commands, have gradually become a mainstream direction with the development of autonomous driving technology. However,…

Vehicle-to-Infrastructure (V2I) collaborative perception leverages data collected by infrastructure's sensors to enhance vehicle perceptual capabilities. LiDAR, as a commonly used sensor in cooperative perception, is widely equipped in…

Vehicle-to-Everything (V2X) collaborative perception extends sensing beyond single vehicle limits through transmission. However, as more agents participate, existing frameworks face two key challenges: (1) the participating agents are…

Collaborative navigation becomes essential in situations of occluded scenarios in autonomous driving where independent driving policies are likely to lead to collisions. One promising approach to address this issue is through the use of…

Temporal perception, defined as the capability to detect and track objects across temporal sequences, serves as a fundamental component in autonomous driving systems. While single-vehicle perception systems encounter limitations, stemming…

High-quality surface normal can help improve geometry estimation in problems faced by autonomous vehicles, such as collision avoidance and occlusion inference. While a considerable volume of literature focuses on densely scanned indoor…

4D radars, which provide 3D point cloud data along with Doppler velocity, are attractive components of modern automated driving systems due to their low cost and robustness under adverse weather conditions. However, they provide a…

End-to-end autonomous driving has witnessed remarkable progress. However, the extensive deployment of autonomous vehicles has yet to be realized, primarily due to 1) inefficient multi-modal environment perception: how to integrate data from…

Vehicle-to-Vehicle (V2V) cooperative perception has great potential to enhance autonomous driving performance by overcoming perception limitations in complex adverse traffic scenarios (CATS). Meanwhile, data serves as the fundamental…

To enhance localization accuracy in urban environments, an innovative LiDAR-Visual-Inertial odometry, named HDA-LVIO, is proposed by employing hybrid data association. The proposed HDA_LVIO system can be divided into two subsystems: the…

Embodied outdoor scene understanding forms the foundation for autonomous agents to perceive, analyze, and react to dynamic driving environments. However, existing 3D understanding is predominantly based on 2D Vision-Language Models (VLMs),…

Connected and automated vehicles will enable advanced traffic safety and efficiency applications thanks to the dynamic exchange of information between vehicles, and between vehicles and infrastructure nodes. Connected vehicles can utilize…

LiDAR scene generation is critical for mitigating real-world LiDAR data collection costs and enhancing the robustness of downstream perception tasks in autonomous driving. However, existing methods commonly struggle to capture geometric…