相关论文: LiDAR-based HD Map Localization using Semantic Gen…

Road networks are crucial for mapping, autonomous driving, and disaster response. While manual annotation is costly, deep learning offers efficient extraction. Current methods include postprocessing (prone to errors), global parallel (fast…

Autonomous driving has been among the most popular and challenging topics in the past few years. On the road to achieving full autonomy, researchers have utilized various sensors, such as LiDAR, camera, Inertial Measurement Unit (IMU), and…

Compared to LiDAR-based localization methods, which provide high accuracy but rely on expensive sensors, visual localization approaches only require a camera and thus are more cost-effective while their accuracy and reliability typically is…

Detecting vehicles with strong robustness and high efficiency has become one of the key capabilities of fully autonomous driving cars. This topic has already been widely studied by GPU-accelerated deep learning approaches using image…

Autonomous driving for urban and highway driving applications often requires High Definition (HD) maps to generate a navigation plan. Nevertheless, various challenges arise when generating and maintaining HD maps at scale. While recent…

Light detection and ranging (LiDAR)-based odometry has been widely utilized for pose estimation due to its use of high-accuracy range measurements and immunity to ambient light conditions. However, the performance of LiDAR odometry varies…

Deep learning models for self-driving cars require a diverse training dataset to manage critical driving scenarios on public roads safely. This includes having data from divergent trajectories, such as the oncoming traffic lane or…

Most autonomous vehicles rely on accurate and efficient localization, which is achieved by comparing live sensor data to a preexisting map, to navigate their environment. Balancing the accuracy of localization with computational efficiency…

The reliability of driving perception systems under unprecedented conditions is crucial for practical usage. Latest advancements have prompted increasing interest in multi-LiDAR perception. However, prevailing driving datasets predominantly…

In this work, we propose a method for large-scale topological localization based on radar scan images using learned descriptors. We present a simple yet efficient deep network architecture to compute a rotationally invariant discriminative…

We describe a novel approach to image based localisation in urban environments using semantic matching between images and a 2-D map. It contrasts with the vast majority of existing approaches which use image to image database matching. We…

Temporal semantic scene understanding is critical for self-driving cars or robots operating in dynamic environments. In this paper, we propose 4D panoptic LiDAR segmentation to assign a semantic class and a temporally-consistent instance ID…

Vectorized maps are indispensable for precise navigation and the safe operation of autonomous vehicles. Traditional methods for constructing these maps fall into two categories: offline techniques, which rely on expensive, labor-intensive…

Point cloud datasets for perception tasks in the context of autonomous driving often rely on high resolution 64-layer Light Detection and Ranging (LIDAR) scanners. They are expensive to deploy on real-world autonomous driving sensor…

Absolute positioning of vehicles is based on Global Navigation Satellite Systems (GNSS) combined with on-board sensors and high-resolution maps. In Cooperative Intelligent Transportation Systems (C-ITS), the positioning performance can be…

In autonomous driving scenarios, accurate perception is becoming an even more critical task for safe navigation. While LiDAR provides precise spatial data, its inherent sparsity makes it difficult to detect small or distant objects.…

This paper proposes a spatiotemporal architecture with a deep neural network (DNN) for road surface conditions and types classification using LiDAR. It is known that LiDAR provides information on the reflectivity and number of point clouds…

Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…

This paper presents the FPGA design of a convolutional neural network (CNN) based road segmentation algorithm for real-time processing of LiDAR data. For autonomous vehicles, it is important to perform road segmentation and obstacle…

Despite rapid developments in visual image-based road detection, robustly identifying road areas in visual images remains challenging due to issues like illumination changes and blurry images. To this end, LiDAR sensor data can be…