相关论文: Towards Efficient and Effective Multi-Camera Encod…

Robust semantic scene segmentation for automotive applications is a challenging problem in two key aspects: (1) labelling every individual scene pixel and (2) performing this task under unstable weather and illumination changes (e.g., foggy…

End-to-end autonomous driving is a fully differentiable machine learning system that takes raw sensor input data and other metadata as prior information and directly outputs the ego vehicle's control signals or planned trajectories. This…

V2X cooperation, through the integration of sensor data from both vehicles and infrastructure, is considered a pivotal approach to advancing autonomous driving technology. Current research primarily focuses on enhancing perception accuracy,…

State-of-the-art crowd counting models follow an encoder-decoder approach. Images are first processed by the encoder to extract features. Then, to account for perspective distortion, the highest-level feature map is fed to extra components…

Tactical decision making and strategic motion planning for autonomous highway driving are challenging due to the complication of predicting other road users' behaviors, diversity of environments, and complexity of the traffic interactions.…

The complex driving environment brings great challenges to the visual perception of autonomous vehicles. It's essential to extract clear and explainable information from the complex road and traffic scenarios and offer clues to decision and…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

Embodied scene understanding serves as the cornerstone for autonomous agents to perceive, interpret, and respond to open driving scenarios. Such understanding is typically founded upon Vision-Language Models (VLMs). Nevertheless, existing…

In recent times, with the exception of sporadic cases, the trend in Computer Vision is to achieve minor improvements compared to considerable increases in complexity. To reverse this trend, we propose a novel method to boost image…

Accurate and efficient perception is essential for autonomous driving, where segmentation tasks such as drivable-area and lane segmentation provide critical cues for motion planning and control. However, achieving high segmentation accuracy…

Multimodal image fusion and object detection are crucial for autonomous driving. While current methods have advanced the fusion of texture details and semantic information, their complex training processes hinder broader applications.…

Camera-based Semantic Scene Completion (SSC) is gaining attentions in the 3D perception field. However, properties such as perspective and occlusion lead to the underestimation of the geometry in distant regions, posing a critical issue for…

Mixture of Vision Encoders (MoVE) has emerged as a powerful approach to enhance the fine-grained visual understanding of multimodal large language models (MLLMs), improving their ability to handle tasks such as complex optical character…

Contrastive learning-based vision-language pre-training approaches, such as CLIP, have demonstrated great success in many vision-language tasks. These methods achieve cross-modal alignment by encoding a matched image-text pair with similar…

We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…

End-to-End Autonomous Driving (E2EAD) methods typically rely on supervised perception tasks to extract explicit scene information (e.g., objects, maps). This reliance necessitates expensive annotations and constrains deployment and data…

Current people detectors operate either by scanning an image in a sliding window fashion or by classifying a discrete set of proposals. We propose a model that is based on decoding an image into a set of people detections. Our system takes…

The cornerstone of autonomous vehicles (AV) is a solid perception system, where camera encoders play a crucial role. Existing works usually leverage pre-trained Convolutional Neural Networks (CNN) or Vision Transformers (ViTs) designed for…

Occlusion is a major challenge for LiDAR-based object detection methods. This challenge becomes safety-critical in urban traffic where the ego vehicle must have reliable object detection to avoid collision while its field of view is…

Current end-to-end autonomous driving methods typically learn only from expert planning data collected from a single ego vehicle, severely limiting the diversity of learnable driving policies and scenarios. However, a critical yet…