相关论文: RMT-PPAD: Real-time Multi-task Learning for Panopt…

Efficient perception models are essential for Advanced Driver Assistance Systems (ADAS), as these applications require rapid processing and response to ensure safety and effectiveness in real-world environments. To address the real-time…

LiDAR-based 3D object detection, semantic segmentation, and panoptic segmentation are usually implemented in specialized networks with distinctive architectures that are difficult to adapt to each other. This paper presents LidarMultiNet, a…

3D point clouds play a pivotal role in outdoor scene perception, especially in the context of autonomous driving. Recent advancements in 3D LiDAR segmentation often focus intensely on the spatial positioning and distribution of points for…

Scene understanding is a pivotal task for autonomous vehicles to safely navigate in the environment. Recent advances in deep learning enable accurate semantic reconstruction of the surroundings from LiDAR data. However, these models…

Recent segmentation methods, which adopt large-scale data training and transformer architecture, aim to create one foundation model that can perform multiple tasks. However, most of these methods rely on heavy encoder and decoder…

Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…

This paper presents a lightweight, end-to-end highway lane detection architecture that jointly captures spatial and temporal information for robust performance in real-world driving scenarios. Building on the strengths of 3D convolutional…

Autonomous driving needs various line-of-sight sensors to perceive surroundings that could be impaired under diverse environment uncertainties such as visual occlusion and extreme weather. To improve driving safety, we explore to wirelessly…

Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…

Understanding 3D environments semantically is pivotal in autonomous driving applications where multiple computer vision tasks are involved. Multi-task models provide different types of outputs for a given scene, yielding a more holistic…

In this work, we present an efficient and quantization-aware panoptic driving perception model (Q- YOLOP) for object detection, drivable area segmentation, and lane line segmentation, in the context of autonomous driving. Our model employs…

Semantic segmentation is a fundamental perception task in autonomous driving, particularly for identifying drivable areas and lane markings to enable safe navigation. However, most state-of-the-art (SOTA) models are computationally…

Pre-trained Vision-Language Models (VLMs), \textit{e.g.} CLIP, have become essential tools in multimodal transfer learning. However, fine-tuning VLMs in few-shot scenarios poses significant challenges in balancing task-specific adaptation…

As the application scenarios of mobile robots are getting more complex and challenging, scene understanding becomes increasingly crucial. A mobile robot that is supposed to operate autonomously in indoor environments must have precise…

Multi-task learning (MTL) can advance assistive driving by exploring inter-task correlations through shared representations. However, existing methods face two critical limitations: single-modality constraints limiting comprehensive scene…

End-to-end Network has become increasingly important in multi-tasking. One prominent example of this is the growing significance of a driving perception system in autonomous driving. This paper systematically studies an end-to-end…

Autonomous driving is becoming one of the leading industrial research areas. Therefore many automobile companies are coming up with semi to fully autonomous driving solutions. Among these solutions, lane detection is one of the vital…

Large-scale pre-trained models have achieved remarkable success in various computer vision tasks. A standard approach to leverage these models is to fine-tune all model parameters for downstream tasks, which poses challenges in terms of…

In this paper, we present LaserNet, a computationally efficient method for 3D object detection from LiDAR data for autonomous driving. The efficiency results from processing LiDAR data in the native range view of the sensor, where the input…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…