相关论文: BEV-LLM: Leveraging Multimodal BEV Maps for Scene …

Autonomous Vehicles (AVs) are transforming the future of transportation through advances in intelligent perception, decision-making, and control systems. However, their success is tied to one core capability, reliable object detection in…

Localization in GNSS-denied and GNSS-degraded environments is a challenge for the safe widespread deployment of autonomous vehicles. Such GNSS-challenged environments require alternative methods for robust localization. In this work, we…

In autonomous driving, dynamic environment and corner cases pose significant challenges to the robustness of ego vehicle's decision-making. To address these challenges, commencing with the representation of state-action mapping in the…

Fusing the camera and LiDAR information has become a de-facto standard for 3D object detection tasks. Current methods rely on point clouds from the LiDAR sensor as queries to leverage the feature from the image space. However, people…

Camera-radar fusion offers a robust and cost-effective alternative to LiDAR-based autonomous driving systems by combining complementary sensing capabilities: cameras provide rich semantic cues but unreliable depth, while radar delivers…

Accurate LiDAR-camera calibration is fundamental to fusing multi-modal perception in autonomous driving and robotic systems. Traditional calibration methods require extensive data collection in controlled environments and cannot compensate…

Autonomous vehicle perception systems have traditionally relied on costly LiDAR sensors to generate precise environmental representations. In this paper, we propose a camera-only perception framework that produces Bird's Eye View (BEV) maps…

The integration of electric vehicles (EVs) into smart grids presents unique opportunities to enhance both transportation systems and energy networks. However, ensuring safe and interpretable interactions between drivers, vehicles, and the…

Driven by the great success of Large Language Models (LLMs) in the 2D image domain, their applications in 3D scene understanding has emerged as a new trend. A key difference between 3D and 2D is that the situation of an egocentric observer…

Driving world models serve as a pivotal technology for autonomous driving by simulating environmental dynamics. However, existing approaches predominantly focus on future scene generation, often overlooking comprehensive 3D scene…

Autonomous landing is essential for drones deployed in emergency deliveries, post-disaster response, and other large-scale missions. By enabling self-docking on charging platforms, it facilitates continuous operation and significantly…

While Vision-Language Models (VLMs) show significant promise for end-to-end autonomous driving by leveraging the common sense embedded in language models, their reliance on 2D image cues for complex scene understanding and decision-making…

Bird's-Eye-View (BEV) perception has become a foundational paradigm in autonomous driving, enabling unified spatial representations that support robust multi-sensor fusion and multi-agent collaboration. As autonomous vehicles transition…

Comprehensive situational awareness is essential for autonomous vehicles operating in safety-critical environments, as it enables the identification and mitigation of potential risks. Although recent Multimodal Large Language Models (MLLMs)…

Data collection for autonomous driving is rapidly accelerating, but manual annotation, especially for 3D labels, remains a major bottleneck due to its high cost and labor intensity. Autolabeling has emerged as a scalable alternative,…

Heavy-duty trucks pose significant safety challenges due to their large size and limited maneuverability compared to passenger vehicles. A deeper understanding of truck characteristics is essential for enhancing the safety perspective of…

Vision-language models (VLMs) serve as general-purpose end-to-end models in autonomous driving, performing subtasks such as prediction, planning, and perception through question-and-answer interactions. However, most existing methods rely…

This paper introduces a novel method for open-vocabulary 3D scene querying in autonomous driving by combining Language Embedded 3D Gaussians with Large Language Models (LLMs). We propose utilizing LLMs to generate both contextually…

Visual bird's eye view (BEV) perception, due to its excellent perceptual capabilities, is progressively replacing costly LiDAR-based perception systems, especially in the realm of urban intelligent driving. However, this type of perception…

In the field of autonomous driving, Bird's-Eye-View (BEV) perception has attracted increasing attention in the community since it provides more comprehensive information compared with pinhole front-view images and panoramas. Traditional BEV…