相关论文: AMap: Distilling Future Priors for Ahead-Aware Onl…
Autonomous driving requires understanding infrastructure elements, such as lanes and crosswalks. To navigate safely, this understanding must be derived from sensor data in real-time and needs to be represented in vectorized form. Learned…
Diffusion distillation models effectively accelerate reverse sampling by compressing the process into fewer steps. However, these models still exhibit a performance gap compared to their pre-trained diffusion model counterparts, exacerbated…
In this paper, we introduce Mask2Map, a novel end-to-end online HD map construction method designed for autonomous driving applications. Our approach focuses on predicting the class and ordered point set of map instances within a scene,…
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 driving perceives surroundings with line-of-sight sensors that are compromised under environmental uncertainties. To achieve real time global information in high definition map, we investigate to share perception information…
High-definition (HD) maps are essential in testing autonomous driving systems (ADSs). HD maps essentially determine the potential diversity of the testing scenarios. However, the current HD maps suffer from two main limitations: lack of…
The construction of online vectorized High-Definition (HD) maps is critical for downstream prediction and planning. Recent efforts have built strong baselines for this task, however, shapes and relations of instances in urban road systems…
High definition (HD) map needs to be updated frequently to capture road changes, which is constrained by limited specialized collection vehicles. To maintain an up-to-date map, we explore crowdsourcing data from connected vehicles. Updating…
High-definition (HD) maps are essential for autonomous driving systems. Traditionally, an expensive and labor-intensive pipeline is implemented to construct HD maps, which is limited in scalability. In recent years, crowdsourcing and online…
For scalable autonomous driving, a robust map-based localization system, independent of GPS, is fundamental. To achieve such map-based localization, online high-definition (HD) map construction plays a significant role in accurate…
Vectorized HD map is essential for autonomous driving. Remarkable work has been achieved in recent years, but there are still major issues: (1) in the generation of the BEV features, single modality-based methods are of limited perception…
In incremental object detection, knowledge distillation has been proven to be an effective way to alleviate catastrophic forgetting. However, previous works focused on preserving the knowledge of old models, ignoring that images could…
Cooperative perception is the key approach to augment the perception of connected and automated vehicles (CAVs) toward safe autonomous driving. However, it is challenging to achieve real-time perception sharing for hundreds of CAVs in…
Motion planning for autonomous driving must handle multiple plausible futures while remaining computationally efficient. Recent end-to-end systems and world-model-based planners predict rich multi-modal trajectories, but typically rely on…
Autonomous driving faces safety challenges due to a lack of global perspective and the semantic information of vectorized high-definition (HD) maps. Information from roadside cameras can greatly expand the map perception range through…
Pre-trained on extensive and diverse multi-modal datasets, 2D foundation models excel at addressing 2D tasks with little or no downstream supervision, owing to their robust representations. The emergence of 2D-to-3D distillation frameworks…
End-to-end autonomous driving aims to produce planning trajectories from raw sensors directly. Currently, most approaches integrate perception, prediction, and planning modules into a fully differentiable network, promising great…
Today's software stacks for autonomous vehicles rely on HD maps to enable sufficient localization, accurate path planning, and reliable motion prediction. Recent developments have resulted in pipelines for the automated generation of HD…
Although multi-view 3D object detection based on the Bird's-Eye-View (BEV) paradigm has garnered widespread attention as an economical and deployment-friendly perception solution for autonomous driving, there is still a performance gap…
Vectorized high-definition (HD) maps are essential for an autonomous driving system. Recently, state-of-the-art map vectorization methods are mainly based on DETR-like framework to generate HD maps in an end-to-end manner. In this paper, we…