相关论文: DualDiff: Dual-branch Diffusion Model for Autonomo…

Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting…

The performance of leaning-based perception algorithms suffer when deployed in out-of-distribution and underrepresented environments. Outdoor robots are particularly susceptible to rapid changes in visual scene appearance due to dynamic…

Generative models have significantly improved the generation and prediction quality on either camera images or LiDAR point clouds for autonomous driving. However, a real-world autonomous driving system uses multiple kinds of input modality,…

Depth estimation aims to predict dense depth maps. In autonomous driving scenes, sparsity of annotations makes the task challenging. Supervised models produce concave objects due to insufficient structural information. They overfit to valid…

In autonomous driving, deep models have shown remarkable performance across various visual perception tasks with the demand of high-quality and huge-diversity training datasets. Such datasets are expected to cover various driving scenarios…

Semantic segmentation is a key technology for autonomous vehicles to understand the surrounding scenes. The appealing performances of contemporary models usually come at the expense of heavy computations and lengthy inference time, which is…

Synthesis of diverse driving scenes serves as a crucial data augmentation technique for validating the robustness and generalizability of autonomous driving systems. Current methods aggregate high-definition (HD) maps and 3D bounding boxes…

Multi-modal fusion is a basic task of autonomous driving system perception, which has attracted many scholars' interest in recent years. The current multi-modal fusion methods mainly focus on camera data and LiDAR data, but pay little…

We present SemLayoutDiff, a unified model for synthesizing diverse 3D indoor scenes across multiple room types. The model introduces a scene layout representation combining a top-down semantic map and attributes for each object. Unlike…

Semantic Scene Completion (SSC) is pivotal in autonomous driving perception, frequently confronted with the complexities of weather and illumination changes. The long-term strategy involves fusing multi-modal information to bolster the…

Diffusion models (DM) have achieved remarkable promise in image super-resolution (SR). However, most of them are tailored to solving non-blind inverse problems with fixed known degradation settings, limiting their adaptability to real-world…

In this paper, we propose a novel approach to address the problem of camera and radar sensor fusion for 3D object detection in autonomous vehicle perception systems. Our approach builds on recent advances in deep learning and leverages the…

In clinical practice, tri-modal medical image fusion, compared to the existing dual-modal technique, can provide a more comprehensive view of the lesions, aiding physicians in evaluating the disease's shape, location, and biological…

Simulation-based design, optimization, and validation of autonomous vehicles have proven to be crucial for their improvement over the years. Nevertheless, the ultimate measure of effectiveness is their successful transition from simulation…

Image fusion aims to blend complementary information from multiple sensing modalities, yet existing approaches remain limited in robustness, adaptability, and controllability. Most current fusion networks are tailored to specific tasks and…

As an influential information fusion and low-level vision technique, image fusion integrates complementary information from source images to yield an informative fused image. A few attempts have been made in recent years to jointly realize…

Scene flow, which provides the 3D motion field of the first frame from two consecutive point clouds, is vital for dynamic scene perception. However, contemporary scene flow methods face three major challenges. Firstly, they lack global flow…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

In recent years, significant progress has been made in collecting large-scale datasets to improve segmentation and autonomous driving models. These large-scale datasets are often dominated by common environmental conditions such as "Clear…

Reliable perception is essential for autonomous driving systems to operate safely under diverse real-world traffic conditions. However, camera- and LiDAR-based perception systems suffer from performance degradation under adverse weather and…