相关论文: LiDARDustX: A LiDAR Dataset for Dusty Unstructured…

The next-generation high-resolution automotive radar (4D radar) can provide additional elevation measurement and denser point clouds, which has great potential for 3D sensing in autonomous driving. In this paper, we introduce a dataset…

Depth estimation is a fundamental component of spatial perception for autonomous driving and other unmanned systems operating in open urban environments. Existing depth datasets such as KITTI, nuScenes, and DDAD have advanced the field but…

Road segmentation is a critical task for autonomous driving systems, requiring accurate and robust methods to classify road surfaces from various environmental data. Our work introduces an innovative approach that integrates LiDAR point…

LiDAR sensors are used in autonomous driving applications to accurately perceive the environment. However, they are affected by adverse weather conditions such as snow, fog, and rain. These everyday phenomena introduce unwanted noise into…

The reliability of driving perception systems under unprecedented conditions is crucial for practical usage. Latest advancements have prompted increasing interest in multi-LiDAR perception. However, prevailing driving datasets predominantly…

Most existing robotic datasets capture static scene data and thus are limited in evaluating robots' dynamic performance. To address this, we present a mobile robot oriented large-scale indoor dataset, denoted as THUD (Tsinghua University…

Adverse weather conditions, low-light environments, and bumpy road surfaces pose significant challenges to SLAM in robotic navigation and autonomous driving. Existing datasets in this field predominantly rely on single sensors or…

Understanding the surrounding environment is fundamental in autonomous driving and robotic perception. Distinguishing between known classes and previously unseen objects is crucial in real-world environments, as done in Anomaly…

Unlike RGB cameras that use visible light bands (384$\sim$769 THz) and Lidars that use infrared bands (361$\sim$331 THz), Radars use relatively longer wavelength radio bands (77$\sim$81 GHz), resulting in robust measurements in adverse…

Understanding road scenes for visual perception remains crucial for intelligent self-driving cars. In particular, it is desirable to detect unexpected small road hazards reliably in real-time, especially under varying adverse conditions…

Vehicle-to-everything (V2X) collaborative perception has emerged as a promising solution to address the limitations of single-vehicle perception systems. However, existing V2X datasets are limited in scope, diversity, and quality. To…

Semantic scene understanding is important for various applications. In particular, self-driving cars need a fine-grained understanding of the surfaces and objects in their vicinity. Light detection and ranging (LiDAR) provides precise…

Autonomous driving has achieved rapid development over the last few decades, including the machine perception as an important issue of it. Although object detection based on conventional cameras has achieved remarkable results in 2D/3D,…

Robust perception is critical for autonomous driving, especially under adverse weather and lighting conditions that commonly occur in real-world environments. In this paper, we introduce the Stereo Image Dataset (SID), a large-scale…

Utilizing infrastructure and vehicle-side information to track and forecast the behaviors of surrounding traffic participants can significantly improve decision-making and safety in autonomous driving. However, the lack of real-world…

Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…

3D object detection is a central task for applications such as autonomous driving, in which the system needs to localize and classify surrounding traffic agents, even in the presence of adverse weather. In this paper, we address the problem…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Perceiving pedestrians in highly crowded urban environments is a difficult long-tail problem for learning-based autonomous perception. Speeding up 3D ground truth generation for such challenging scenes is performance-critical yet very…

A major bottleneck in off-road autonomous driving research lies in the scarcity of large-scale, high-quality datasets and benchmarks. To bridge this gap, we present ORAD-3D, which, to the best of our knowledge, is the largest dataset…