相关论文: NeRO: Neural Road Surface Reconstruction

Multi-view 3D visual grounding is critical for autonomous driving vehicles to interpret natural languages and localize target objects in complex environments. However, existing datasets and methods suffer from coarse-grained language…

Accurate road topology reasoning is critical for autonomous driving, as it requires both perceiving road elements and understanding how lanes connect to each other (L2L) and to traffic elements (L2T). Existing methods often focus on either…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…

Most autonomous cars rely on the availability of high-definition (HD) maps. Current research aims to address this constraint by directly predicting HD map elements from onboard sensors and reasoning about the relationships between the…

Scene model construction based on image rendering is an indispensable but challenging technique in computer vision and intelligent transportation systems. In this paper, we propose a framework for constructing 3D corridor-based road scene…

Although traffic is one of the massively collected data, it is often only available for specific regions. One concern is that, although there are studies that give good results for these data, the data from these regions may not be…

This manuscript investigates the integration of positional encoding -- a technique widely used in computer graphics -- into the input vector of a binary classification model for self-collision detection. The results demonstrate the benefits…

Driving in the dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

Autoencoders have been recently used for encoding medical images. In this study, we design and validate a new framework for retrieving medical images by classifying Radon projections, compressed in the deepest layer of an autoencoder. As…

A road is the skeleton of a city and is a fundamental and important geographical component. Currently, many countries have built geo-information databases and gathered large amounts of geographic data. However, with the extensive…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…

This research addresses the need for high-definition (HD) maps for autonomous vehicles (AVs), focusing on road lane information derived from aerial imagery. While Earth observation data offers valuable resources for map creation,…

Interconnected road lanes are a central concept for navigating urban roads. Currently, most autonomous vehicles rely on preconstructed lane maps as designing an algorithmic model is difficult. However, the generation and maintenance of such…

Recent advances in implicit neural representations show great promise when it comes to generating numerical solutions to partial differential equations. Compared to conventional alternatives, such representations employ parameterized neural…

A signed distance function (SDF) parametrized by an MLP is a common ingredient of neural surface reconstruction. We build on the successful recent method NeuS to extend it by three new components. The first component is to borrow the…

Road surface reconstruction plays a crucial role in autonomous driving, which can be used for road lane perception and autolabeling. Recently, mesh-based road surface reconstruction algorithms have shown promising reconstruction results.…

We consider the problem of high-dimensional light field reconstruction and develop a learning-based framework for spatial and angular super-resolution. Many current approaches either require disparity clues or restore the spatial and…

We propose a layered street view model to encode both depth and semantic information on street view images for autonomous driving. Recently, stixels, stix-mantics, and tiered scene labeling methods have been proposed to model street view…

We present a neural modeling framework for Non-Line-of-Sight (NLOS) imaging. Previous solutions have sought to explicitly recover the 3D geometry (e.g., as point clouds) or voxel density (e.g., within a pre-defined volume) of the hidden…

Accurate perception of objects in the environment is important for improving the scene understanding capability of SLAM systems. In robotic and augmented reality applications, object maps with semantic and metric information show attractive…