相关论文: RS2AD: End-to-End Autonomous Driving Data Generati…

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…

Road detection is a critically important task for self-driving cars. By employing LiDAR data, recent works have significantly improved the accuracy of road detection. Relying on LiDAR sensors limits the wide application of those methods…

The generation of realistic LiDAR point clouds plays a crucial role in the development and evaluation of autonomous driving systems. Although recent methods for 3D LiDAR point cloud generation have shown significant improvements, they still…

Object detection and classification in 3D is a key task in Automated Driving (AD). LiDAR sensors are employed to provide the 3D point cloud reconstruction of the surrounding environment, while the task of 3D object bounding box detection in…

Generating representative rear-end crash scenarios is crucial for safety assessments of Advanced Driver Assistance Systems (ADAS) and Automated Driving systems (ADS). However, existing methods for scenario generation face challenges such as…

Point cloud data from 3D LiDAR sensors are one of the most crucial sensor modalities for versatile safety-critical applications such as self-driving vehicles. Since the annotations of point cloud data is an expensive and time-consuming…

Existing learning methods for LiDAR-based applications use 3D points scanned under a pre-determined beam configuration, e.g., the elevation angles of beams are often evenly distributed. Those fixed configurations are task-agnostic, so…

Autonomous driving must operate across diverse surfaces to enable safe mobility. However, most driving datasets are captured on well-paved flat roads. Moreover, recent driving datasets primarily provide sparse LiDAR ground truth for images,…

This paper addresses the problem of 3D referring expression comprehension (REC) in autonomous driving scenario, which aims to ground a natural language to the targeted region in LiDAR point clouds. Previous approaches for REC usually focus…

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…

Human driving behavior is inherently diverse, yet most end-to-end autonomous driving (E2E-AD) systems learn a single average driving style, neglecting individual differences. Achieving personalized E2E-AD faces challenges across three…

An intelligent driving system should dynamically formulate appropriate driving strategies based on the current environment and vehicle status while ensuring system security and reliability. However, methods based on reinforcement learning…

V2X cooperation, through the integration of sensor data from both vehicles and infrastructure, is considered a pivotal approach to advancing autonomous driving technology. Current research primarily focuses on enhancing perception accuracy,…

Robust road segmentation is a key challenge in self-driving research. Though many image-based methods have been studied and high performances in dataset evaluations have been reported, developing robust and reliable road segmentation is…

3D perception plays an essential role for improving the safety and performance of autonomous driving. Yet, existing models trained on real-world datasets, which naturally exhibit long-tail distributions, tend to underperform on rare and…

Sensor degradation poses a significant challenge in autonomous driving. During heavy rainfall, the interference from raindrops can adversely affect the quality of LiDAR point clouds, resulting in, for instance, inaccurate point…

Practical autonomous driving requires models that generalize by reasoning through spatial-temporal possibilities to exclude unsafe outcomes. While state-of-the-art (SOTA) methods use parallel planning architectures, they fail to explicitly…

Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…

In the autonomous driving domain, data collection and annotation from real vehicles are expensive and sometimes unsafe. Simulators are often used for data augmentation, which requires realistic sensor models that are hard to formulate and…

Although end-to-end autonomous driving (E2E-AD) technologies have made significant progress in recent years, there remains an unsatisfactory performance on closed-loop evaluation. The potential of leveraging planning in query design and…