相关论文: LetsMap: Unsupervised Representation Learning for …

Unsupervised panoptic segmentation aims to partition an image into semantically meaningful regions and distinct object instances without training on manually annotated data. In contrast to prior work on unsupervised panoptic scene…

Extracting a Bird's Eye View (BEV) representation from multiple camera images offers a cost-effective, scalable alternative to LIDAR-based solutions in autonomous driving. However, the performance of the existing BEV methods drops…

In semi-supervised semantic segmentation, a model is trained with a limited number of labeled images along with a large corpus of unlabeled images to reduce the high annotation effort. While previous methods are able to learn good…

While bird's-eye-view (BEV) perception models can be useful for building high-definition maps (HD-Maps) with less human labor, their results are often unreliable and demonstrate noticeable inconsistencies in the predicted HD-Maps from…

The rise of multimodal large language models (MLLMs) has spurred interest in language-based driving tasks. However, existing research typically focuses on limited tasks and often omits key multi-view and temporal information which is…

We present a method for learning multiple scene representations given a small labeled set, by exploiting the relationships between such representations in the form of a multi-task hypergraph. We also show how we can use the hypergraph to…

An accurate understanding of a self-driving vehicle's surrounding environment is crucial for its navigation system. To enhance the effectiveness of existing algorithms and facilitate further research, it is essential to provide…

Vision-language navigation (VLN), which entails an agent to navigate 3D environments following human instructions, has shown great advances. However, current agents are built upon panoramic observations, which hinders their ability to…

Bird's Eye View (BEV) perception technology is crucial for autonomous driving, as it generates top-down 2D maps for environment perception, navigation, and decision-making. Nevertheless, the majority of current BEV map generation studies…

Autonomous navigation requires structured representation of the road network and instance-wise identification of the other traffic agents. Since the traffic scene is defined on the ground plane, this corresponds to scene understanding in…

Awareness of the road scene is an essential component for both autonomous vehicles and Advances Driver Assistance Systems and is gaining importance both for the academia and car companies. This paper presents a way to learn a semantic-aware…

Semantic segmentation is a crucial step in many Earth observation tasks. Large quantity of pixel-level annotation is required to train deep networks for semantic segmentation. Earth observation techniques are applied to varieties of…

We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…

In the Vision-and-Language Navigation task, the embodied agent follows linguistic instructions and navigates to a specific goal. It is important in many practical scenarios and has attracted extensive attention from both computer vision and…

Recently, contrastive learning has largely advanced the progress of unsupervised visual representation learning. Pre-trained on ImageNet, some self-supervised algorithms reported higher transfer learning performance compared to…

Multi-sensor fusion is essential for an accurate and reliable autonomous driving system. Recent approaches are based on point-level fusion: augmenting the LiDAR point cloud with camera features. However, the camera-to-LiDAR projection…

This work proposes a hybrid unsupervised and supervised learning method to pre-train models applied in Earth observation downstream tasks when only a handful of labels denoting very general semantic concepts are available. We combine a…

In perception for automated vehicles, safety is critical not only for the driver but also for other agents in the scene, particularly vulnerable road users such as pedestrians and cyclists. Previous representation methods, such as Bird's…

BEV perception is of great importance in the field of autonomous driving, serving as the cornerstone of planning, controlling, and motion prediction. The quality of the BEV feature highly affects the performance of BEV perception. However,…

We address the problem of unsupervised semantic segmentation of outdoor LiDAR point clouds in diverse traffic scenarios. The key idea is to leverage the spatiotemporal nature of a dynamic point cloud sequence and introduce drastically…