相关论文: 3D Lane Detection from Front or Surround-View usin…

Localization is a crucial capability for mobile robots and autonomous cars. In this paper, we address learning an observation model for Monte-Carlo localization using 3D LiDAR data. We propose a novel, neural network-based observation model…

We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…

Precise localization is a core ability of an autonomous vehicle. It is a prerequisite for motion planning and execution. The well-established localization approaches such as Kalman and particle filters require a probabilistic observation…

Detecting lane markings in road scenes poses a challenge due to their intricate nature, which is susceptible to unfavorable conditions. While lane markings have strong shape priors, their visibility is easily compromised by lighting…

Lane detection is a critical component of Advanced Driver-Assistance Systems (ADAS) and Automated Driving System (ADS), providing essential spatial information for lateral control. However, domain shifts often undermine model reliability…

In this paper, we address the problem of road segmentation and free space detection in the context of autonomous driving. Traditional methods either use 3-dimensional (3D) cues such as point clouds obtained from LIDAR, RADAR or stereo…

Robust lane detection is essential for advanced driver assistance and autonomous driving, yet models trained on public datasets such as CULane often fail to generalise across different camera viewpoints. This paper addresses the challenge…

The vision of automated driving is to increase both road safety and efficiency, while offering passengers a convenient travel experience. This requires that autonomous systems correctly estimate the current traffic scene and its likely…

The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…

We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite…

Intersection scenarios provide the most complex traffic situations in Autonomous Driving and Driving Assistance Systems. Knowing where to stop in advance in an intersection is an essential parameter in controlling the longitudinal velocity…

The ability to reliably perceive the environmental states, particularly the existence of objects and their motion behavior, is crucial for autonomous driving. In this work, we propose an efficient deep model, called MotionNet, to jointly…

Open-set perception in complex traffic environments poses a critical challenge for autonomous driving systems, particularly in identifying previously unseen object categories, which is vital for ensuring safety. Visual Language Models…

Multi-modal 3D object detection has received growing attention as the information from different sensors like LiDAR and cameras are complementary. Most fusion methods for 3D detection rely on an accurate alignment and calibration between 3D…

4D automotive radar is indispensable for autonomous driving due to its low cost and robustness, yet its point cloud sparsity challenges 3D object detection. Existing 4D radar-camera fusion methods focus on complex fusion strategies, trading…

Off-road environments remain significant challenges for autonomous ground vehicles, due to the lack of structured roads and the presence of complex obstacles, such as uneven terrain, vegetation, and occlusions. Traditional perception…

In this paper, we present a novel diffusion-based model for lane detection, called DiffusionLane, which treats the lane detection task as a denoising diffusion process in the parameter space of the lane. Firstly, we add the Gaussian noise…

Exploiting past 3D LiDAR scans to predict future point clouds is a promising method for autonomous mobile systems to realize foresighted state estimation, collision avoidance, and planning. In this paper, we address the problem of…

Modern perception systems in the field of autonomous driving rely on 3D data analysis. LiDAR sensors are frequently used to acquire such data due to their increased resilience to different lighting conditions. Although rotating LiDAR…

LiDAR-based 3D detection plays a vital role in autonomous navigation. Surprisingly, although autonomous vehicles (AVs) must detect both near-field objects (for collision avoidance) and far-field objects (for longer-term planning),…