相关论文: CSMapping: Scalable Crowdsourced Semantic Mapping …

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…

Reliable and accurate localization and mapping are key components of most autonomous systems. Besides geometric information about the mapped environment, the semantics plays an important role to enable intelligent navigation behaviors. In…

Recent advancements in 3D Gaussian Splatting(3DGS) have significantly improved semantic scene understanding, enabling natural language queries to localize objects within a scene. However, existing methods primarily focus on embedding…

We present a novel approach for enhancing robotic exploration by using generative occupancy mapping. We implement SceneSense, a diffusion model designed and trained for predicting 3D occupancy maps given partial observations. Our proposed…

Image generation models trained on large datasets can synthesize high-quality images but often produce spatially inconsistent and distorted images due to limited information about the underlying structures and spatial layouts. In this work,…

Autonomous vehicles (AVs) are expected to revolutionize transportation by improving efficiency and safety. Their success relies on 3D vision systems that effectively sense the environment and detect traffic agents. Among sensors AVs use to…

Strong semantic representations improve the convergence and generation quality of diffusion and flow models. Existing approaches largely rely on external models, which require separate training, operate on misaligned objectives, and exhibit…

Despite significant progress in Text-to-Image (T2I) generative models, even lengthy and complex text descriptions still struggle to convey detailed controls. In contrast, Layout-to-Image (L2I) generation, aiming to generate realistic and…

Representation learning has been proven to play an important role in the unprecedented success of machine learning models in numerous tasks, such as machine translation, face recognition and recommendation. The majority of existing…

Accurate, scalable traffic monitoring is critical for real-time and long-term transportation management, particularly during disruptions such as natural disasters, large construction projects, or major policy changes like New York City's…

High-Definition (HD) maps play a crucial role in autonomous vehicle navigation, complementing onboard perception sensors for improved accuracy and safety. Traditional HD map generation relies on dedicated mapping vehicles, which are costly…

Expected to provide higher transportation efficiency and security, autonomous driving has attracted substantial attentions from both industry and academia. Meanwhile, the emergence of edge intelligence has further introduced significant…

Traffic forecasting models rely on data that needs to be sensed, processed, and stored. This requires the deployment and maintenance of traffic sensing infrastructure, often leading to unaffordable monetary costs. The lack of sensed…

In autonomous driving, high-definition (HD) maps and semantic maps in bird's-eye view (BEV) are essential for accurate localization, planning, and decision-making. This paper introduces an enhanced End-to-End model named MapFM for online…

Autonomous mobile robots deployed in urban environments must be context-aware, i.e., able to distinguish between different semantic entities, and robust to occlusions. Current approaches like semantic scene completion (SSC) require…

Trajectory prediction in autonomous driving relies on accurate representation of all relevant contexts of the driving scene, including traffic participants, road topology, traffic signs, as well as their semantic relations to each other.…

Mapping is essential in robotics and autonomous systems because it provides the spatial foundation for path planning. Efficient mapping enables planning algorithms to generate reliable paths while ensuring safety and adapting in real time…

Flow matching and diffusion models have shown impressive results in text-to-image generation, producing photorealistic images through an iterative denoising process. A common strategy to speed up synthesis is to perform early denoising at…

Accurately depicting the complex traffic scene is a vital component for autonomous vehicles to execute correct judgments. However, existing benchmarks tend to oversimplify the scene by solely focusing on lane perception tasks. Observing…