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

In this paper, we present an end-to-end learning framework for detailed 3D face reconstruction from a single image. Our approach uses a 3DMM-based coarse model and a displacement map in UV-space to represent a 3D face. Unlike previous work…

Anticipating the future in a dynamic scene is critical for many fields such as autonomous driving and robotics. In this paper we propose a class of novel neural network architectures to predict future LiDAR frames given previous ones. Since…

Modeling the evolutions of driving scenarios is important for the evaluation and decision-making of autonomous driving systems. Most existing methods focus on one aspect of scene evolution such as map generation, motion prediction, and…

Domain gap between synthetic and real data in visual regression (e.g. 6D pose estimation) is bridged in this paper via global feature alignment and local refinement on the coarse classification of discretized anchor classes in target space,…

We present a cost-effective new approach for generating denser depth maps for Autonomous Driving (AD) and Autonomous Vehicles (AVs) by integrating the images obtained from deep neural network (DNN) 4D radar detectors with conventional…

3D visual grounding (3DVG) is a critical task in scene understanding that aims to identify objects in 3D scenes based on text descriptions. However, existing methods rely on separately pre-trained vision and text encoders, resulting in a…

Autonomous vehicle perception typically relies on modular pipelines that decompose the task into detection, tracking, and prediction. While interpretable, these pipelines suffer from error accumulation and limited inter-task synergy.…

Monocular 3D object detection plays a crucial role in autonomous driving. However, existing monocular 3D detection algorithms depend on 3D labels derived from LiDAR measurements, which are costly to acquire for new datasets and challenging…

This dissertation is a multifaceted contribution to the advancement of vision-based 3D perception technologies. In the first segment, the thesis introduces structural enhancements to both monocular and stereo 3D object detection algorithms.…

Jointly processing information from multiple sensors is crucial to achieving accurate and robust perception for reliable autonomous driving systems. However, current 3D perception research follows a modality-specific paradigm, leading to…

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

The rapid development of Large Multimodal Models (LMMs) has led to remarkable progress in 2D visual understanding; however, extending these capabilities to 3D scene understanding remains a significant challenge. Existing approaches…

Implicit neural representations have shown promising potential for the 3D scene reconstruction. Recent work applies it to autonomous 3D reconstruction by learning information gain for view path planning. Effective as it is, the computation…

Human vision is capable of transforming two-dimensional observations into an egocentric three-dimensional scene understanding, which underpins the ability to translate complex scenes and exhibit adaptive behaviors. This capability, however,…

We address the problem of 3D object detection from 2D monocular images in autonomous driving scenarios. We propose to lift the 2D images to 3D representations using learned neural networks and leverage existing networks working directly on…

Inferring the 3D structure from a single image, particularly in occluded regions, remains a fundamental yet unsolved challenge in vision-centric autonomous driving. Existing unsupervised approaches typically train a neural radiance field…

Existing anomaly detection (AD) methods often treat the modality and class as independent factors. Although this paradigm has enriched the development of AD research branches and produced many specialized models, it has also led to…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

In recent years, vision-based end-to-end autonomous driving has emerged as a new paradigm. However, popular end-to-end approaches typically rely on visual feature extraction networks trained under label supervision. This limited supervision…

Self-supervised representation learning for point cloud videos remains a challenging problem with two key limitations: (1) existing methods rely on explicit knowledge to learn motion, resulting in suboptimal representations; (2) prior…