相关论文: CoPAD : Multi-source Trajectory Fusion and Coopera…

Multi-object tracking (MOT) in monocular videos is fundamentally challenged by occlusions and depth ambiguity, issues that conventional tracking-by-detection (TBD) methods struggle to resolve owing to a lack of geometric awareness. To…

We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

Perception and prediction modules are critical components of autonomous driving systems, enabling vehicles to navigate safely through complex environments. The perception module is responsible for perceiving the environment, including…

With the rapid development of intelligent vehicles and Advanced Driver-Assistance Systems (ADAS), a new trend is that mixed levels of human driver engagements will be involved in the transportation system. Therefore, necessary visual…

Recent years have witnessed the remarkable progress of 3D multi-modality object detection methods based on the Bird's-Eye-View (BEV) perspective. However, most of them overlook the complementary interaction and guidance between LiDAR and…

Tracking a point through a video can be a challenging task due to uncertainty arising from visual obfuscations, such as appearance changes and occlusions. Although current state-of-the-art discriminative models excel in regressing long-term…

Autonomous driving technology has advanced significantly, yet detecting driving anomalies remains a major challenge due to the long-tailed distribution of driving events. Existing methods primarily rely on single-modal road condition video…

Multi-view 3D object detection is a crucial component of autonomous driving systems. Contemporary query-based methods primarily depend either on dataset-specific initialization of 3D anchors, introducing bias, or utilize dense attention…

Efficient observer design and accurate sensor fusion are key in state estimation. This work proposes an optimization-based methodology, termed Trajectory Based Optimization Design (TBOD), allowing the user to easily design observers for…

The growing demand for robust scene understanding in mobile robotics and autonomous driving has highlighted the importance of integrating multiple sensing modalities. By combining data from diverse sensors like cameras and LIDARs, fusion…

We propose a novel solution for predicting future trajectories of pedestrians. Our method uses a multimodal encoder-decoder transformer architecture, which takes as input both pedestrian locations and ego-vehicle speeds. Notably, our…

This paper presents LAPA (Look Around and Pay Attention), a novel end-to-end transformer-based architecture for multi-camera point tracking that integrates appearance-based matching with geometric constraints. Traditional pipelines decouple…

Trajectory prediction is a safety-critical tool for autonomous vehicles to plan and execute actions. Our work addresses two key challenges in trajectory prediction, learning multimodal outputs, and better predictions by imposing constraints…

LiDAR-based 3D object detection is a fundamental task in the field of autonomous driving. This paper explores the unique advantage of Frequency Modulated Continuous Wave (FMCW) LiDAR in autonomous perception. Given a single frame FMCW point…

Accurate 3D object detection for autonomous driving requires complementary sensors. Cameras provide dense semantics but unreliable depth, while millimeter-wave radar offers precise range and velocity measurements with sparse geometry. We…

Collaborative perception allows agents to enhance their perceptual capabilities by exchanging intermediate features. Existing methods typically organize these intermediate features as 2D bird's-eye-view (BEV) representations, which discard…

The fusion of multimodal sensor data streams such as camera images and lidar point clouds plays an important role in the operation of autonomous vehicles (AVs). Robust perception across a range of adverse weather and lighting conditions is…

Existing top-performance autonomous driving systems typically rely on the multi-modal fusion strategy for reliable scene understanding. This design is however fundamentally restricted due to overlooking the modality-specific strengths and…

Trajectory prediction has been a long-standing problem in intelligent systems like autonomous driving and robot navigation. Models trained on large-scale benchmarks have made significant progress in improving prediction accuracy. However,…