相关论文: InVDriver: Intra-Instance Aware Vectorized Query-B…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

Autonomous vehicles demand high accuracy and robustness of perception algorithms. To develop efficient and scalable perception algorithms, the maximum information should be extracted from the available sensor data. In this work, we present…

In this paper, we introduce Mask2Map, a novel end-to-end online HD map construction method designed for autonomous driving applications. Our approach focuses on predicting the class and ordered point set of map instances within a scene,…

We introduce a novel framework for learning vector representations of tree-structured geometric data focusing on 3D vascular networks. Our approach employs two sequentially trained Transformer-based autoencoders. In the first stage, the…

Generating multi-view videos for autonomous driving training has recently gained much attention, with the challenge of addressing both cross-view and cross-frame consistency. Existing methods typically apply decoupled attention mechanisms…

Recently, progress in acquisition equipment such as LiDAR sensors has enabled sensing increasingly spacious outdoor 3D environments. Making sense of such 3D acquisitions requires fine-grained scene understanding, such as constructing…

In the evolving landscape of autonomous vehicles, ensuring robust in-vehicle network (IVN) security is paramount. This paper introduces an advanced intrusion detection system (IDS) called KD-XVAE that uses a Variational Autoencoder…

This paper presents a vector HD-mapping algorithm that formulates the mapping as a tracking task and uses a history of memory latents to ensure consistent reconstructions over time. Our method, MapTracker, accumulates a sensor stream into…

Most end-to-end autonomous driving methods rely on imitation learning from single expert demonstrations, often leading to conservative and homogeneous behaviors that limit generalization in complex real-world scenarios. In this work, we…

In this paper, we introduce a learning-based vision dynamics approach to nonlinear model predictive control for autonomous vehicles, coined LVD-NMPC. LVD-NMPC uses an a-priori process model and a learned vision dynamics model used to…

Recent advancements in world models have revolutionized dynamic environment simulation, allowing systems to foresee future states and assess potential actions. In autonomous driving, these capabilities help vehicles anticipate the behavior…

Anticipating motions of vehicles in a scene is an essential problem for safe autonomous driving systems. To this end, the comprehension of the scene's infrastructure is often the main clue for predicting future trajectories. Most of the…

End-to-end autonomous driving aims to produce planning trajectories from raw sensors directly. Currently, most approaches integrate perception, prediction, and planning modules into a fully differentiable network, promising great…

Motion prediction plays an important role in autonomous driving. This study presents LMFormer, a lane-aware transformer network for trajectory prediction tasks. In contrast to previous studies, our work provides a simple mechanism to…

We present a visual localization framework based on novel deep attention aware features for autonomous driving that achieves centimeter level localization accuracy. Conventional approaches to the visual localization problem rely on…

In the realm of autonomous driving, accurately detecting surrounding obstacles is crucial for effective decision-making. Traditional methods primarily rely on 3D bounding boxes to represent these obstacles, which often fail to capture the…

This work describes a novel data-driven latent space inference framework built on paired autoencoders to handle observational inconsistencies when solving inverse problems. Our approach uses two autoencoders, one for the parameter space and…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Vectorized HD map is essential for autonomous driving. Remarkable work has been achieved in recent years, but there are still major issues: (1) in the generation of the BEV features, single modality-based methods are of limited perception…

We present a learning-based planner that aims to robustly drive a vehicle by mimicking human drivers' driving behavior. We leverage a mid-to-mid approach that allows us to manipulate the input to our imitation learning network freely. With…