相关论文: Conformal Trajectory Prediction with Multi-View Da…

Traditional methods for autonomous driving are implemented with many building blocks from perception, planning and control, making them difficult to generalize to varied scenarios due to complex assumptions and interdependencies. Recently,…

Optical sensors and learning algorithms for autonomous vehicles have dramatically advanced in the past few years. Nonetheless, the reliability of today's autonomous vehicles is hindered by the limited line-of-sight sensing capability and…

Cooperative perception enabled by Vehicle-to-Everything (V2X) communication enhances autonomous driving safety by creating a unified environmental representation through shared sensory data. While recent works have advanced multi-agent…

End-to-end autonomous driving (E2E-AD) has emerged as a promising paradigm that unifies perception, prediction, and planning into a holistic, data-driven framework. However, achieving robustness to varying camera viewpoints, a common…

Perception for automated driving is largely based on onboard environmental sensors, such as cameras and radar, which are cost-effective but limited by line-of-sight and field-of-view constraints. These inherent limitations may cause onboard…

Understanding and forecasting future trajectories of agents are critical for behavior analysis, robot navigation, autonomous cars, and other related applications. Previous methods mostly treat trajectory prediction as time sequence…

The comprehensiveness of vehicle-to-everything (V2X) recognition enriches and holistically shapes the global Birds-Eye-View (BEV) perception, incorporating rich semantics and integrating driving scene information, thereby serving features…

Accurate prediction of future agent trajectories is a critical challenge for ensuring safe and efficient autonomous navigation, particularly in complex urban environments characterized by multiple plausible future scenarios. In this paper,…

This paper presents a LiDAR-based end-to-end autonomous driving method with Vehicle-to-Everything (V2X) communication integration, termed V2X-Lead, to address the challenges of navigating unregulated urban scenarios under mixed-autonomy…

The comprehension of environmental traffic situation largely ensures the driving safety of autonomous vehicles. Recently, the mission has been investigated by plenty of researches, while it is hard to be well addressed due to the limitation…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

With the rapid advancement of autonomous driving technology, vehicle-to-everything (V2X) communication has emerged as a key enabler for extending perception range and enhancing driving safety by providing visibility beyond the line of…

We tackle the problem of joint perception and motion forecasting in the context of self-driving vehicles. Towards this goal we propose PnPNet, an end-to-end model that takes as input sequential sensor data, and outputs at each time step…

Modern perception systems of autonomous vehicles are known to be sensitive to occlusions and lack the capability of long perceiving range. It has been one of the key bottlenecks that prevents Level 5 autonomy. Recent research has…

3D multi-object tracking (MOT) and trajectory forecasting are two critical components in modern 3D perception systems. We hypothesize that it is beneficial to unify both tasks under one framework to learn a shared feature representation of…

Accurate motion forecasting is critical for safe and efficient autonomous driving, enabling vehicles to predict future trajectories and make informed decisions in complex traffic scenarios. Most of the current designs of motion prediction…

While multi-vehicular collaborative driving demonstrates clear advantages over single-vehicle autonomy, traditional infrastructure-based V2X systems remain constrained by substantial deployment costs and the creation of "uncovered danger…

Transformer-based models have improved visual tracking, but most still cannot run in real time on resource-limited devices, especially for unmanned aerial vehicle (UAV) tracking. To achieve a better balance between performance and…

Convolutional Neural Networks (CNN) have been successfully applied to autonomous driving tasks, many in an end-to-end manner. Previous end-to-end steering control methods take an image or an image sequence as the input and directly predict…

Anticipating the motion of other road users is crucial for automated driving systems (ADS), as it enables safe and informed downstream decision-making and motion planning. Unfortunately, contemporary learning-based approaches for motion…