相关论文: UniPAD: A Universal Pre-training Paradigm for Auto…

Perception of the environment is a critical component for enabling autonomous driving. It provides the vehicle with the ability to comprehend its surroundings and make informed decisions. Depth prediction plays a pivotal role in this…

Pretraining on large labeled datasets is a prerequisite to achieve good performance in many computer vision tasks like 2D object recognition, video classification etc. However, pretraining is not widely used for 3D recognition tasks where…

Neural implicit surface representation methods have recently shown impressive 3D reconstruction results. However, existing solutions struggle to reconstruct driving scenes due to their large size, highly complex nature and their limited…

UMAP (Uniform Manifold Approximation and Projection) is a novel manifold learning technique for dimension reduction. UMAP is constructed from a theoretical framework based in Riemannian geometry and algebraic topology. The result is a…

Autonomous vehicles demand detailed maps to maneuver reliably through traffic, which need to be kept up-to-date to ensure a safe operation. A promising way to adapt the maps to the ever-changing road-network is to use crowd-sourced data…

This paper presents the first study on Unsupervised Domain Adaptation (UDA) for multimodal 3D panoptic segmentation (mm-3DPS), aiming to improve generalization under domain shifts commonly encountered in real-world autonomous driving. A…

3D-aware visual pretraining has proven effective in improving the performance of downstream robotic manipulation tasks. However, existing methods are constrained to Euclidean embedding spaces, whose flat geometry limits their ability to…

Part segmentations provide a rich and detailed part-level description of objects. However, their annotation requires an enormous amount of work, which makes it difficult to apply standard deep learning methods. In this paper, we propose the…

Current state-of-the-art methods cast monocular 3D human pose estimation as a learning problem by training neural networks on large data sets of images and corresponding skeleton poses. In contrast, we propose an approach that can exploit…

In this paper we present a novel unsupervised representation learning approach for 3D shapes, which is an important research challenge as it avoids the manual effort required for collecting supervised data. Our method trains an RNN-based…

Vision-Language-Action (VLA) models have recently emerged in autonomous driving, with the promise of leveraging rich world knowledge to improve the cognitive capabilities of driving systems. However, adapting such models for driving tasks…

Implicit neural representations have shown compelling results in offline 3D reconstruction and also recently demonstrated the potential for online SLAM systems. However, applying them to autonomous 3D reconstruction, where a robot is…

Neural radiance fields (NeRFs) have gained popularity in the autonomous driving (AD) community. Recent methods show NeRFs' potential for closed-loop simulation, enabling testing of AD systems, and as an advanced training data augmentation…

In this paper, we propose UniGS, a unified map representation and differentiable framework for high-fidelity multimodal 3D reconstruction based on 3D Gaussian Splatting. Our framework integrates a CUDA-accelerated rasterization pipeline…

Recent advances in vision-language pre-training have enabled machines to perform better in multimodal object discrimination (e.g., image-text semantic alignment) and image synthesis (e.g., text-to-image generation). On the other hand,…

Uniform Manifold Approximation and Projection (UMAP) is a widely used manifold learning technique for dimensionality reduction. This paper studies UMAP, supervised UMAP, and several competing dimensionality reduction methods, including…

We present UniFuture, a unified 4D Driving World Model designed to simulate the dynamic evolution of the 3D physical world. Unlike existing driving world models that focus solely on 2D pixel-level video generation (lacking geometry) or…

Labeling LiDAR point clouds is notoriously time-and-energy-consuming, which spurs recent unsupervised 3D representation learning methods to alleviate the labeling burden in LiDAR perception via pretrained weights. Almost all existing work…

Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…

Unsupervised Anomaly Detection (UAD) with incremental training is crucial in industrial manufacturing, as unpredictable defects make obtaining sufficient labeled data infeasible. However, continual learning methods primarily rely on…