相关论文: Realistic Rainy Weather Simulation for LiDARs in C…

Lidar-based object detectors are critical parts of the 3D perception pipeline in autonomous navigation systems such as self-driving cars. However, they are known to be sensitive to adverse weather conditions such as rain, snow and fog due…

Autonomous vehicles face significant challenges in navigating adverse weather, particularly rain, due to the visual impairment of camera-based systems. In this study, we leveraged contemporary deep learning techniques to mitigate these…

Recently, as many studies of autonomous vehicles have been achieved for levels 4 and 5, there has been also increasing interest in the advancement of perception, decision, and control technologies, which are the three major aspects of…

Accurate LiDAR simulation is crucial for autonomous driving, especially under adverse weather conditions. Existing methods struggle to capture the complex interactions between LiDAR signals and atmospheric phenomena, leading to unrealistic…

Data scarcity is a bottleneck to machine learning-based perception modules, usually tackled by augmenting real data with synthetic data from simulators. Realistic models of the vehicle perception sensors are hard to formulate in closed…

Lidar sensors are often used in mobile robots and autonomous vehicles to complement camera, radar and ultrasonic sensors for environment perception. Typically, perception algorithms are trained to only detect moving and static objects as…

Robust perception is crucial in autonomous vehicle navigation and localization. Visual processing tasks, like semantic segmentation, should work in varying weather conditions and during different times of day. Semantic segmentation is where…

Modeling perception sensors is key for simulation based testing of automated driving functions. Beyond weather conditions themselves, sensors are also subjected to object dependent environmental influences like tire spray caused by vehicles…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

Autonomous driving simulators provide an effective and low-cost alternative for evaluating or enhancing visual perception models. However, the reliability of evaluation depends on the diversity and realism of the generated scenes. Extreme…

Enhancing the robustness of object detection systems under adverse weather conditions is crucial for the advancement of autonomous driving technology. This study presents a novel approach leveraging the diffusion model Instruct Pix2Pix to…

Automated vehicles require an accurate perception of their surroundings for safe and efficient driving. Lidar-based object detection is a widely used method for environment perception, but its performance is significantly affected by…

Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a…

Autonomous vehicles rely on a variety of sensors to gather information about their surrounding. The vehicle's behavior is planned based on the environment perception, making its reliability crucial for safety reasons. The active LiDAR…

Recent advances in automated vehicles have focused on improving perception performance under adverse weather conditions; however, research on physical hardware solutions remains limited, despite their importance for perception critical…

LiDAR sensors are used in autonomous driving applications to accurately perceive the environment. However, they are affected by adverse weather conditions such as snow, fog, and rain. These everyday phenomena introduce unwanted noise into…

Rain fills the atmosphere with water particles, which breaks the common assumption that light travels unaltered from the scene to the camera. While it is well-known that rain affects computer vision algorithms, quantifying its impact is…

Accurate environmental perception is critical for advanced driver assistance systems (ADAS). Light detection and ranging (LiDAR) systems play a crucial role in ADAS; they can reliably detect obstacles and help ensure traffic safety.…

Autonomous vehicles rely heavily upon their perception subsystems to see the environment in which they operate. Unfortunately, the effect of variable weather conditions presents a significant challenge to object detection algorithms, and…

LiDAR scenes constitute a fundamental source for several autonomous driving applications. Despite the existence of several datasets, scenes from adverse weather conditions are rarely available. This limits the robustness of downstream…