相关论文: Veila: Panoramic LiDAR Generation from a Monocular…

3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular…

Conditional visual generation has witnessed remarkable progress with the advent of diffusion models (DMs), especially in tasks like control-to-image generation. However, challenges such as expensive computational cost, high inference…

Rigorous testing of autonomous robots, such as self-driving vehicles, is essential to ensure their safety in real-world deployments. This requires building high-fidelity simulators to test scenarios beyond those that can be safely or…

Autonomous driving demands high-quality LiDAR data, yet the cost of physical LiDAR sensors presents a significant scaling-up challenge. While recent efforts have explored deep generative models to address this issue, they often consume…

Long-tail distributions in driving datasets pose a fundamental challenge for 3D perception, as rare classes exhibit substantial intra-class diversity yet available samples cover this variation space only sparsely. Existing instance…

In this work, we present a simple yet effective framework to address the domain translation problem between different sensor modalities with unique data formats. By relying only on the semantics of the scene, our modular generative…

Scalable generation of outdoor driving scenes requires 3D representations that remain consistent across multiple viewpoints and scale to large areas. Existing solutions either rely on image or video generative models distilled to 3D space,…

Unified Multimodal Models struggle to bridge the fundamental gap between the abstract representations needed for visual understanding and the detailed primitives required for generation. Existing approaches typically compromise by employing…

LiDAR is an important method for autonomous driving systems to sense the environment. The point clouds obtained by LiDAR typically exhibit sparse and irregular distribution, thus posing great challenges to the detection of 3D objects,…

We tackle the dual challenges of video understanding and controllable video generation within a unified diffusion framework. Our key insights are two-fold: geometry-only cues (e.g., depth, edges) are insufficient: they specify layout but…

An automated vehicle operating in an urban environment must be able to perceive and recognise object/obstacles in a three-dimensional world while navigating in a constantly changing environment. In order to plan and execute accurate…

Radar sensors provide reliable perception across adverse weather, lighting, and long-range conditions, yet existing machine learning approaches remain fragmented and task-specific, with each downstream task employing distinct architectures…

Monocular 3D object detection (M3OD) is a significant yet inherently challenging task in autonomous driving due to absence of explicit depth cues in a single RGB image. In this paper, we strive to boost currently underperforming monocular…

LiDAR representation learning aims to extract rich structural and semantic information from large-scale, readily available datasets, reducing reliance on costly human annotations. However, existing LiDAR representation strategies often…

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,…

High-dynamic-range (HDR) formats and displays are becoming increasingly prevalent, yet state-of-the-art image generators (e.g., Stable Diffusion and FLUX) typically remain limited to low-dynamic-range (LDR) output due to the lack of…

Generating realistic and diverse LiDAR point clouds is crucial for autonomous driving simulation. Although previous methods achieve LiDAR point cloud generation from user inputs, they struggle to attain high-quality results while enabling…

Collaborative filtering (CF) recommendation has been significantly advanced by integrating Graph Neural Networks (GNNs) and Graph Contrastive Learning (GCL). However, (i) random edge perturbations often distort critical structural signals…

While expensive LiDAR and stereo camera rigs have enabled the development of successful 3D object detection methods, monocular RGB-only approaches lag much behind. This work advances the state of the art by introducing MoVi-3D, a novel,…

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…