相关论文: Talk2BEV: Language-enhanced Bird's-eye View Maps f…

Bird's Eye View (BEV) perception technology is crucial for autonomous driving, as it generates top-down 2D maps for environment perception, navigation, and decision-making. Nevertheless, the majority of current BEV map generation studies…

In this paper, we propose M$^2$BEV, a unified framework that jointly performs 3D object detection and map segmentation in the Birds Eye View~(BEV) space with multi-camera image inputs. Unlike the majority of previous works which separately…

Navigation instruction generation, which requires embodied agents to describe the navigation routes, has been of great interest in robotics and human-computer interaction. Existing studies directly map the sequence of 2D perspective…

With the emergence of Large Language Models (LLMs) and Vision Foundation Models (VFMs), multimodal AI systems benefiting from large models have the potential to equally perceive the real world, make decisions, and control tools as humans.…

Large-scale pre-training has shown promising results on the vision-and-language navigation (VLN) task. However, most existing pre-training methods employ discrete panoramas to learn visual-textual associations. This requires the model to…

Automated vehicles lack natural communication channels with other road users, making external Human-Machine Interfaces (eHMIs) essential for conveying intent and maintaining trust in shared environments. However, most eHMI studies rely on…

We present a flow-matching planner for autonomous driving that directly outputs actionable control trajectories defined by acceleration and curvature profiles. The model is conditioned on a bird's-eye-view (BEV) raster of the surrounding…

Visual-language reasoning, driving knowledge, and value alignment are essential for advanced autonomous driving systems. However, existing approaches largely rely on data-driven learning, making it difficult to capture the complex logic…

Recently, the pure camera-based Bird's-Eye-View (BEV) perception provides a feasible solution for economical autonomous driving. However, the existing BEV-based multi-view 3D detectors generally transform all image features into BEV…

Autonomous driving systems depend on on models that can reason about high-level scene contexts and accurately predict the dynamics of their surrounding environment. Vision- Language Models (VLMs) have recently emerged as promising tools for…

In this paper, we introduce VisioPath, a novel framework combining vision-language models (VLMs) with model predictive control (MPC) to enable safe autonomous driving in dynamic traffic environments. The proposed approach leverages a…

Trajectory planning is a fundamental yet challenging component of autonomous driving. End-to-end planners frequently falter under adverse weather, unpredictable human behavior, or complex road layouts, primarily because they lack strong…

The pursuit of autonomous driving technology hinges on the sophisticated integration of perception, decision-making, and control systems. Traditional approaches, both data-driven and rule-based, have been hindered by their inability to…

End-to-end autonomous driving has emerged as a promising paradigm integrating perception, decision-making, and control within a unified learning framework. Recently, Vision-Language Models (VLMs) have gained significant attention for their…

Accurate localization ability is fundamental in autonomous driving. Traditional visual localization frameworks approach the semantic map-matching problem with geometric models, which rely on complex parameter tuning and thus hinder…

Multi-view 3D object detection is becoming popular in autonomous driving due to its high effectiveness and low cost. Most of the current state-of-the-art detectors follow the query-based bird's-eye-view (BEV) paradigm, which benefits from…

3D object detection in Bird's-Eye-View (BEV) space has recently emerged as a prevalent approach in the field of autonomous driving. Despite the demonstrated improvements in accuracy and velocity estimation compared to perspective view…

Integrating LiDAR and Camera information into Bird's-Eye-View (BEV) has become an essential topic for 3D object detection in autonomous driving. Existing methods mostly adopt an independent dual-branch framework to generate LiDAR and camera…

Achieving reliable and safe autonomous driving in off-road environments requires accurate and efficient terrain traversability analysis. However, this task faces several challenges, including the scarcity of large-scale datasets tailored…

Autonomous driving is a challenging task that requires perceiving and understanding the surrounding environment for safe trajectory planning. While existing vision-based end-to-end models have achieved promising results, these methods are…