相关论文: MGTR: Multi-Granular Transformer for Motion Predic…

Multimodal transformer exhibits high capacity and flexibility to align image and text for visual grounding. However, the existing encoder-only grounding framework (e.g., TransVG) suffers from heavy computation due to the self-attention…

Notably, current intelligent transportation systems rely heavily on accurate traffic forecasting and swift inference provision to make timely decisions. While Graph Convolutional Networks (GCNs) have shown benefits in modeling complex…

Predicting the behaviour (i.e., manoeuvre/trajectory) of other road users, including vehicles, is critical for the safe and efficient operation of autonomous vehicles (AVs), a.k.a., automated driving systems (ADSs). Due to the uncertain…

Many existing motion prediction approaches rely on symbolic perception outputs to generate agent trajectories, such as bounding boxes, road graph information and traffic lights. This symbolic representation is a high-level abstraction of…

Multi-camera tracking plays a pivotal role in various real-world applications. While end-to-end methods have gained significant interest in single-camera tracking, multi-camera tracking remains predominantly reliant on heuristic techniques.…

Video grounding aims to localize the temporal segment corresponding to a sentence query from an untrimmed video. Almost all existing video grounding methods fall into two frameworks: 1) Top-down model: It predefines a set of segment…

The tasks of object detection and trajectory forecasting play a crucial role in understanding the scene for autonomous driving. These tasks are typically executed in a cascading manner, making them prone to compounding errors. Furthermore,…

Convolution neural networks (CNNs) and Transformers have their own advantages and both have been widely used for dense prediction in multi-task learning (MTL). Most of the current studies on MTL solely rely on CNN or Transformer. In this…

Encoding a driving scene into vector representations has been an essential task for autonomous driving that can benefit downstream tasks e.g. trajectory prediction. The driving scene often involves heterogeneous elements such as the…

Understanding trajectory diversity is a fundamental aspect of addressing practical traffic tasks. However, capturing the diversity of trajectories presents challenges, particularly with traditional machine learning and recurrent neural…

3D object detection is a significant task for autonomous driving. Recently with the progress of vision transformers, the 2D object detection problem is being treated with the set-to-set loss. Inspired by these approaches on 2D object…

There is a recent trend in the LiDAR perception field towards unifying multiple tasks in a single strong network with improved performance, as opposed to using separate networks for each task. In this paper, we introduce a new LiDAR…

Given their flexibility and encouraging performance, deep-learning models are becoming standard for motion prediction in autonomous driving. However, with great flexibility comes a lack of interpretability and possible violations of…

Predicting the future behavior of agents is a fundamental task in autonomous vehicle domains. Accurate prediction relies on comprehending the surrounding map, which significantly regularizes agent behaviors. However, existing methods have…

Statistical tracking filters depend on accurate target measurements and uncertainty estimates for good tracking performance. In this work, we propose novel machine learning models for target detection and uncertainty estimation in…

This paper proposes a novel deep learning framework for multi-modal motion prediction. The framework consists of three parts: recurrent neural networks to process the target agent's motion process, convolutional neural networks to process…

Convolution neural networks and Transformers have their own advantages and both have been widely used for dense prediction in multi-task learning (MTL). Existing studies typically employ either CNNs (effectively capture local spatial…

Trajectory prediction and planning are fundamental yet disconnected components in autonomous driving. Prediction models forecast surrounding agent motion under unknown intentions, producing multimodal distributions, while planning assumes…

Multi-agent trajectory prediction is a fundamental problem in autonomous driving. The key challenges in prediction are accurately anticipating the behavior of surrounding agents and understanding the scene context. To address these…

Environment prediction frameworks are integral for autonomous vehicles, enabling safe navigation in dynamic environments. LiDAR generated occupancy grid maps (L-OGMs) offer a robust bird's eye-view scene representation that facilitates…