相关论文: Seeing Roads Through Words: A Language-Guided Fram…

Vision-based autonomous driving requires reliable and efficient object detection. This work proposes a DiffusionDet-based framework that exploits data fusion from the monocular camera and depth sensor to provide the RGB and depth (RGB-D)…

Driver attention prediction is becoming an essential research problem in human-like driving systems. This work makes an attempt to predict the driver attention in driving accident scenarios (DADA). However, challenges tread on the heels of…

Vision-language models enable the understanding and reasoning of complex traffic scenarios through multi-source information fusion, establishing it as a core technology for autonomous driving. However, existing vision-language models are…

Traditional autonomous driving pipelines decouple camera design from downstream perception, relying on fixed optics and handcrafted ISPs that prioritize human viewable imagery rather than machine semantics. This separation discards…

Visual scene understanding is an important capability that enables robots to purposefully act in their environment. In this paper, we propose a novel approach to object-class segmentation from multiple RGB-D views using deep learning. We…

We present a multimodal traffic light state detection using vision and sound, from the viewpoint of a quadruped robot navigating in urban settings. This is a challenging problem because of the visual occlusions and noise from robot…

Ensuring reliable autonomous operation when visual input is degraded remains a key challenge in intelligent vehicles and robotics. We present DepthVision, a multimodal framework that enables Vision--Language Models (VLMs) to exploit LiDAR…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…

The novelty of this study consists in a multi-modality approach to scene classification, where image and audio complement each other in a process of deep late fusion. The approach is demonstrated on a difficult classification problem,…

Autonomous driving is becoming a reality, yet vehicles still need to rely on complex sensor fusion to understand the scene they act in. The ability to discern static environment and dynamic entities provides a comprehension of the road…

Structured road understanding of lane geometry, topology, and traffic element relationships is foundational to safe autonomous driving. While vision-language models (VLMs) offer promising semantic flexibility, they lack the geometric and…

Robust visual recognition under adverse weather conditions is of great importance in real-world applications. In this context, we propose a new method for learning semantic segmentation models robust against fog. Its key idea is to consider…

RGB-T saliency detection has emerged as an important computer vision task, identifying conspicuous objects in challenging scenes such as dark environments. However, existing methods neglect the characteristics of cross-modal features and…

Safe autonomous systems in complex environments require robust road anomaly segmentation to identify unknown obstacles. However, existing approaches often rely on pixel-level statistics to determine whether a region appears anomalous. This…

This research explores the integration of language embeddings for active learning in autonomous driving datasets, with a focus on novelty detection. Novelty arises from unexpected scenarios that autonomous vehicles struggle to navigate,…

Leveraging multiple sensors is crucial for robust semantic perception in autonomous driving, as each sensor type has complementary strengths and weaknesses. However, existing sensor fusion methods often treat sensors uniformly across all…

Semantic segmentation across arbitrary sensor modalities faces significant challenges due to diverse sensor characteristics, and the traditional configurations for this task result in redundant development efforts. We address these…

Navigating urban environments represents a complex task for automated vehicles. They must reach their goal safely and efficiently while considering a multitude of traffic participants. We propose a modular decision making algorithm to…

The pursuit of autonomous driving technology hinges on the sophisticated integration of perception, decision-making, and control systems. Traditional approaches, both data-driven and rule-based, have been hindered by their inability to…

Recent advancements in perception for autonomous driving are driven by deep learning. In order to achieve robust and accurate scene understanding, autonomous vehicles are usually equipped with different sensors (e.g. cameras, LiDARs,…