相关论文: Uni-PrevPredMap: Extending PrevPredMap to a Unifie…

3D models are an essential part of many robotic applications. In applications where the environment is unknown a-priori, or where only a part of the environment is known, it is important that the 3D model can handle the unknown space…

Constructing large-scale labeled datasets for multi-modal perception model training in autonomous driving presents significant challenges. This has motivated the development of self-supervised pretraining strategies. However, existing…

We present a unified network for simultaneously generating videos and their corresponding entity segmentation and depth maps from text prompts. We utilize colormap to represent entity masks and depth maps, tightly integrating dense…

In agricultural settings, the unstructured nature of certain production environments, along with the high complexity and inherent risks of production tasks, poses significant challenges to achieving full automation and effective on-site…

Vectorized high-definition map online construction has garnered considerable attention in the field of autonomous driving research. Most existing approaches model changeable map elements using a fixed number of points, or predict local maps…

Recent feed-forward models have significantly advanced geometry perception for inferring dense 3D structure from sensor observations. However, its essential capabilities remain fragmented across multiple incompatible paradigms, including…

Reducing traffic accidents is a crucial global public safety concern. Accident prediction is key to improving traffic safety, enabling proactive measures to be taken before a crash occurs, and informing safety policies, regulations, and…

In autonomous driving, recent advances in lane segment perception provide autonomous vehicles with a comprehensive understanding of driving scenarios. Moreover, incorporating prior information input into such perception model represents an…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…

Multi-camera 3D perception has emerged as a prominent research field in autonomous driving, offering a viable and cost-effective alternative to LiDAR-based solutions. The existing multi-camera algorithms primarily rely on monocular 2D…

As large language models (LLMs) continue to advance rapidly, they are becoming increasingly capable while simultaneously demanding ever-longer context lengths. To improve the inference efficiency of long-context processing, several novel…

Large-scale vector mapping is important for transportation, city planning, and survey and census. We propose GraphMapper, a unified framework for end-to-end vector map extraction from satellite images. Our key idea is a novel unified…

Air-ground collaborative intelligence is becoming a key approach for next-generation urban intelligent transportation management, where aerial and ground systems work together on perception, communication, and decision-making. However, the…

We introduce UniOcc, a comprehensive, unified benchmark and toolkit for occupancy forecasting (i.e., predicting future occupancies based on historical information) and occupancy prediction (i.e., predicting current-frame occupancy from…

3D visual grounding allows an embodied agent to understand visual information in real-world 3D environments based on human instructions, which is crucial for embodied intelligence. Existing 3D visual grounding methods typically rely on…

Autonomous driving systems require a comprehensive understanding of the environment, achieved by extracting visual features essential for perception, planning, and control. However, models trained solely on single-task objectives or generic…

Online vector map construction based on visual data can bypass the processes of data collection, post-processing, and manual annotation required by traditional map construction, which significantly enhances map-building efficiency. However,…

Traditional vision-based autonomous driving systems often face difficulties in navigating complex environments when relying solely on single-image inputs. To overcome this limitation, incorporating temporal data such as past image frames or…

Embodied navigation presents a core challenge for intelligent robots, requiring the comprehension of visual environments, natural language instructions, and autonomous exploration. Existing models often fall short in offering a unified…