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

In High-definition (HD) maps, lane elements constitute the majority of components and demand stringent localization requirements to ensure safe vehicle navigation. Vision lane detection with LiDAR position assignment is a prevalent method…

Object recognition has seen significant progress in the image domain, with focus primarily on 2D perception. We propose to leverage existing large-scale datasets of 3D models to understand the underlying 3D structure of objects seen in an…

In this paper we propose a novel deep neural network that is able to jointly reason about 3D detection, tracking and motion forecasting given data captured by a 3D sensor. By jointly reasoning about these tasks, our holistic approach is…

Robust and realistic rendering for large-scale road scenes is essential in autonomous driving simulation. Recently, 3D Gaussian Splatting (3D-GS) has made groundbreaking progress in neural rendering, but the general fidelity of large-scale…

Large Multimodal Models (LMMs) have recently gained prominence in autonomous driving research, showcasing promising capabilities across various emerging benchmarks. LMMs specifically designed for this domain have demonstrated effective…

In this work, a deep learning approach has been developed to carry out road detection by fusing LIDAR point clouds and camera images. An unstructured and sparse point cloud is first projected onto the camera image plane and then upsampled…

Modern cars are incorporating an increasing number of driver assist features, among which automatic lane keeping. The latter allows the car to properly position itself within the road lanes, which is also crucial for any subsequent lane…

LiDAR-based 3D object detection is essential for autonomous driving systems. However, LiDAR point clouds may appear to have sparsity, uneven distribution, and incomplete structures, significantly limiting the detection performance. In road…

Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of perception stack especially for the sake of path planning, motion…

Lane detection stands as a crucial perception task in autonomous driving and advanced driver assistance systems. However, existing methods still degrade in complex real scenarios due to two major limitations. First, classification…

Inspired by human driving focus, this research pioneers networks augmented with Focusing Sampling, Partial Field of View Evaluation, Enhanced FPN architecture and Directional IoU Loss - targeted innovations addressing obstacles to precise…

The classification and the position estimation of objects become more and more relevant as the field of robotics is expanding in diverse areas of society. In this Bachelor Thesis, we developed a cone detection algorithm for an autonomous…

Accurately depicting the complex traffic scene is a vital component for autonomous vehicles to execute correct judgments. However, existing benchmarks tend to oversimplify the scene by solely focusing on lane perception tasks. Observing…

Tracking in urban street scenes plays a central role in autonomous systems such as self-driving cars. Most of the current vision-based tracking methods perform tracking in the image domain. Other approaches, eg based on LIDAR and radar,…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

In this paper, we present LaserNet, a computationally efficient method for 3D object detection from LiDAR data for autonomous driving. The efficiency results from processing LiDAR data in the native range view of the sensor, where the input…

Lane detection algorithms have been the key enablers for a fully-assistive and autonomous navigation systems. In this paper, a novel and pragmatic approach for lane detection is proposed using a convolutional neural network (CNN) model…

LIDAR sensors are usually used to provide autonomous vehicles with 3D representations of their environment. In ideal conditions, geometrical models could detect the road in LIDAR scans, at the cost of a manual tuning of numerical…

Comprehensive environment perception is essential for autonomous vehicles to operate safely. It is crucial to detect both dynamic road users and static objects like traffic signs or lanes as these are required for safe motion planning.…

Numerous groups have applied a variety of deep learning techniques to computer vision problems in highway perception scenarios. In this paper, we presented a number of empirical evaluations of recent deep learning advances. Computer vision,…