相关论文: B$^2$F-Map: Crowd-sourced Mapping with Bayesian B-…
We propose a systematic approach for registering cross-source point clouds. The compelling need for cross-source point cloud registration is motivated by the rapid development of a variety of 3D sensing techniques, but many existing…
Autonomous vehicles require accurate and robust localization and mapping algorithms to navigate safely and reliably in urban environments. We present a novel sensor fusion-based pipeline for offline mapping and online localization based on…
High-definition (HD) maps are crucial to autonomous driving, providing structured representations of road elements to support navigation and planning. However, existing query-based methods often employ random query initialization and depend…
As generative models expand the possibilities of visual content creation, layered image synthesis has emerged as a promising direction for controllable and creative editing. However, existing methods struggle to fully realize this…
Autonomous off-road navigation requires an accurate semantic understanding of the environment, often converted into a bird's-eye view (BEV) representation for various downstream tasks. While learning-based methods have shown success in…
High-definition (HD) maps are evolving from pre-annotated to real-time construction to better support autonomous driving in diverse scenarios. However, this process is hindered by low-quality input data caused by onboard sensors limited…
The high-definition map is a cornerstone of autonomous driving. Unlike constructing a costly fleet of mapping vehicles, the crowdsourcing paradigm is a cost-effective way to keep an HD map up to date. Achieving practical success for…
We propose a mobile crowdsourced sensors selection approach to improve the journey planning service especially in areas where no wireless or vehicular sensors are available. We develop a location estimation model of journey services based…
Depth maps are widely used in feed-forward 3D Gaussian Splatting (3DGS) pipelines by unprojecting them into 3D point clouds for novel view synthesis. This approach offers advantages such as efficient training, the use of known camera poses,…
High-definition (HD) maps provide environmental information for autonomous driving systems and are essential for safe planning. While existing methods with single-frame input achieve impressive performance for online vectorized HD map…
This work introduces B-spline Movement Primitives (BMPs), a new Movement Primitive (MP) variant that leverages B-splines for motion representation. B-splines are a well-known concept in motion planning due to their ability to generate…
Fusing a low resolution (LR) mosaiced hyperspectral image (HSI) with a high resolution (HR) panchromatic (PAN) image offers a promising avenue for video-rate HR-HSI imaging via single-shot acquisition, yet its severely ill-posed nature…
Building a fully autonomous self-driving system has been discussed for more than 20 years yet remains unsolved. Previous systems have limited ability to scale. Their localization subsystem needs labor-intensive map recording for running in…
For connected vehicles to have a substantial effect on road safety, it is required that accurate positions and trajectories can be shared. To this end, all vehicles must be accurately geolocalized in a common frame. This can be achieved by…
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…
Current multi-modal image fusion methods typically rely on task-specific models, leading to high training costs and limited scalability. While generative methods provide a unified modeling perspective, they often suffer from slow inference…
Continuous formulations of trajectory planning problems have two main benefits. First, constraints are guaranteed to be satisfied at all times. Secondly, dynamic obstacles can be naturally considered with time. This paper introduces a novel…
Gradient-based trajectory optimization with B-spline curves is widely used for unmanned aerial vehicles (UAVs) due to its fast convergence and continuous trajectory generation. However, the application of B-spline curves for path-velocity…
Infrastructure-based sensing and real-time trajectory generation show promise for improving safety in high-risk roadway segments such as work zones, yet practical deployments are hindered by perspective distortion, complex geometry,…
We propose GGS, a Generalizable Gaussian Splatting method for Autonomous Driving which can achieve realistic rendering under large viewpoint changes. Previous generalizable 3D gaussian splatting methods are limited to rendering novel views…