相关论文: HoloDrive: Holistic 2D-3D Multi-Modal Street Scene…

Many existing autonomous driving paradigms involve a multi-stage discrete pipeline of tasks. To better predict the control signals and enhance user safety, an end-to-end approach that benefits from joint spatial-temporal feature learning is…

Collecting and labeling training data is one important step for learning-based methods because the process is time-consuming and biased. For face analysis tasks, although some generative models can be used to generate face data, they can…

Autonomous driving sensors generate an enormous amount of data. In this paper, we explore learned multimodal compression for autonomous driving, specifically targeted at 3D object detection. We focus on camera and LiDAR modalities and…

How should representations from complementary sensors be integrated for autonomous driving? Geometry-based sensor fusion has shown great promise for perception tasks such as object detection and motion forecasting. However, for the actual…

In autonomous driving, accurately estimating the state of surrounding obstacles is critical for safe and robust path planning. However, this perception task is difficult, particularly for generic obstacles/objects, due to appearance and…

State-of-the-art text-to-video models excel at generating isolated clips but fall short of creating the coherent, multi-shot narratives, which are the essence of storytelling. We bridge this "narrative gap" with HoloCine, a model that…

We aim to generate fine-grained 3D geometry from large-scale sparse LiDAR scans, abundantly captured by autonomous vehicles (AV). Contrary to prior work on AV scene completion, we aim to extrapolate fine geometry from unlabeled and beyond…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While most prevalent methods progressively downscale the 3D point clouds and camera images and then fuse the high-level…

Recent progress in robot learning has been driven by large-scale datasets and powerful visuomotor policy architectures, yet policy robustness remains limited by the substantial cost of collecting diverse demonstrations, particularly for…

Autonomous vehicle perception systems have traditionally relied on costly LiDAR sensors to generate precise environmental representations. In this paper, we propose a camera-only perception framework that produces Bird's Eye View (BEV) maps…

Understanding the evolution of 3D scenes is important for effective autonomous driving. While conventional methods mode scene development with the motion of individual instances, world models emerge as a generative framework to describe the…

Using synthesized images to boost the performance of perception models is a long-standing research challenge in computer vision. It becomes more eminent in visual-centric autonomous driving systems with multi-view cameras as some long-tail…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

The generation and simulation of diverse real-world scenes have significant application value in the field of autonomous driving, especially for the corner cases. Recently, researchers have explored employing neural radiance fields or…

Photorealistic simulation plays a crucial role in applications such as autonomous driving, where advances in neural radiance fields (NeRFs) may allow better scalability through the automatic creation of digital 3D assets. However,…

Generating complete 3D objects under partial occlusions (i.e., amodal scenarios) is a practically important yet challenging problem, as large portions of object geometry are unobserved in real-world scenarios. Existing approaches either…

Object detection precision is crucial for ensuring the safety and efficacy of autonomous driving systems. The quality of acquired images directly influences the ability of autonomous driving systems to correctly recognize and respond to…

End-to-end autonomous driving planners typically generate trajectories from current observations alone. However, real-world driving is highly dynamic, and such reactive planning cannot anticipate future scene evolution, often leading to…

In this paper, we propose an automatic labeled sequential data generation pipeline for human segmentation and velocity estimation with point clouds. Considering the impact of deep neural networks, state-of-the-art network architectures have…

Automatically generating a complete 3D scene from a text description, a reference image, or both has significant applications in fields like virtual reality and gaming. However, current methods often generate low-quality textures and…