相关论文: OLiDM: Object-aware LiDAR Diffusion Models for Aut…
Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…
Industrial cyber-physical systems (ICPS) integrate physical processes with computational and communication technologies in industrial settings. With the support of edge computing technology, it is feasible to schedule large-scale sensors…
To ensure safe urban driving for autonomous platforms, it is crucial not only to develop high-performance object detection techniques but also to establish a diverse and representative dataset that captures various urban environments and…
Generative modeling of 3D LiDAR data is an emerging task with promising applications for autonomous mobile robots, such as scalable simulation, scene manipulation, and sparse-to-dense completion of LiDAR point clouds. While existing…
Open-world perception aims to develop a model adaptable to novel domains and various sensor configurations and can understand uncommon objects and corner cases. However, current research lacks sufficiently comprehensive open-world 3D…
LiDAR point clouds have become the most common data source in autonomous driving. However, due to the sparsity of point clouds, accurate and reliable detection cannot be achieved in specific scenarios. Because of their complementarity with…
Autonomous vehicles (AVs) rely on LiDAR sensors for environmental perception and decision-making in driving scenarios. However, ensuring the safety and reliability of AVs in complex environments remains a pressing challenge. To address this…
Detecting Human-Object Interaction (HOI) in images is an important step towards high-level visual comprehension. Existing work often shed light on improving either human and object detection, or interaction recognition. However, due to the…
LiDAR sensors are widely used in autonomous driving due to the reliable 3D spatial information. However, the data of LiDAR is sparse and the frequency of LiDAR is lower than that of cameras. To generate denser point clouds spatially and…
Detecting dynamic objects and predicting static road information such as drivable areas and ground heights are crucial for safe autonomous driving. Previous works studied each perception task separately, and lacked a collective quantitative…
Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…
For autonomous driving, an essential task is to detect surrounding objects accurately. To this end, most existing systems use optical devices, including cameras and light detection and ranging (LiDAR) sensors, to collect environment data in…
Object detection on Lidar point cloud data is a promising technology for autonomous driving and robotics which has seen a significant rise in performance and accuracy during recent years. Particularly uncertainty estimation is a crucial…
Although multi-modal large language models (MLLMs) have shown strong capabilities across diverse domains, their application in generating fine-grained 3D perception and prediction outputs in autonomous driving remains underexplored. In this…
LiDAR scene generation is increasingly important for scalable simulation and synthetic data creation, especially under diverse sensing conditions that are costly to capture at scale. Typically, diffusion-based LiDAR generators are developed…
Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…
Multi-object tracking (MOT) with camera-LiDAR fusion demands accurate results of object detection, affinity computation and data association in real time. This paper presents an efficient multi-modal MOT framework with online joint…
Recent advances in video diffusion models have enabled the generation of high-quality videos. However, these videos still suffer from unrealistic deformations, semantic violations, and physical inconsistencies that are largely rooted in the…
Data-driven learning has advanced autonomous driving, yet task-specific models struggle with out-of-distribution scenarios due to their narrow optimization objectives and reliance on costly annotated data. We present DriveX, a…
3D object detection is a critical task in autonomous driving. Recently multi-modal fusion-based 3D object detection methods, which combine the complementary advantages of LiDAR and camera, have shown great performance improvements over…