相关论文: Class-Distribution Guided Active Learning for 3D O…

Real-time processing is crucial in autonomous driving systems due to the imperative of instantaneous decision-making and rapid response. In real-world scenarios, autonomous vehicles are continuously tasked with interpreting their…

With the increasing global popularity of self-driving cars, there is an immediate need for challenging real-world datasets for benchmarking and training various computer vision tasks such as 3D object detection. Existing datasets either…

The 3D occupancy estimation task has become an important challenge in the area of vision-based autonomous driving recently. However, most existing camera-based methods rely on costly 3D voxel labels or LiDAR scans for training, limiting…

Multimodal large language models (MLLMs) have shown strong vision-language reasoning abilities but still lack robust 3D spatial understanding, which is critical for autonomous driving. This limitation stems from two key challenges: (1) the…

We propose a method for off-road drivable area extraction using 3D LiDAR data with the goal of autonomous driving application. A specific deep learning framework is designed to deal with the ambiguous area, which is one of the main…

In this paper, we propose a self-supervised learningmethod for multi-object pose estimation. 3D object under-standing from 2D image is a challenging task that infers ad-ditional dimension from reduced-dimensional information.In particular,…

3D occupancy prediction is an important task for the robustness of vision-centric autonomous driving, which aims to predict whether each point is occupied in the surrounding 3D space. Existing methods usually require 3D occupancy labels to…

3D semantic occupancy prediction is a pivotal task in autonomous driving, providing a dense and fine-grained understanding of the surrounding environment, yet single-modality methods face trade-offs between camera semantics and LiDAR…

Occupancy prediction infers fine-grained 3D geometry and semantics from camera images of the surrounding environment, making it a critical perception task for autonomous driving. Existing methods either adopt dense grids as scene…

Deep learning-based techniques have proven effective in polyp segmentation tasks when provided with sufficient pixel-wise labeled data. However, the high cost of manual annotation has created a bottleneck for model generalization. To…

This paper proposes a new active learning method for semantic segmentation. The core of our method lies in a new annotation query design. It samples informative local image regions (e.g., superpixels), and for each of such regions, asks an…

One of the most important parts of environment perception is the detection of obstacles in the surrounding of the vehicle. To achieve that, several sensors like radars, LiDARs and cameras are installed in autonomous vehicles. The produced…

Active learning aims to select samples to be annotated that yield the largest performance improvement for the learning algorithm. Many methods approach this problem by measuring the informativeness of samples and do this based on the…

3D occupancy prediction has become a key perception task in autonomous driving, as it enables comprehensive scene understanding. Recent methods enhance this understanding by incorporating spatiotemporal information through multi-frame…

Driving scene generation is a critical domain for autonomous driving, enabling downstream applications, including perception and planning evaluation. Occupancy-centric methods have recently achieved state-of-the-art results by offering…

Obtaining high-quality 3D semantic occupancy from raw sensor data remains an essential yet challenging task, often requiring extensive manual labeling. In this work, we propose AutoOcc, a vision-centric automated pipeline for open-ended…

Segmentation, i.e., the partitioning of volumetric data into components, is a crucial task in many image processing applications ever since such data could be generated. Most existing applications nowadays, specifically CNNs, make use of…

Self-driving vehicles must perceive and predict the future positions of nearby actors in order to avoid collisions and drive safely. A learned deep learning module is often responsible for this task, requiring large-scale, high-quality…

This work studies the semantic segmentation of 3D LiDAR data in dynamic scenes for autonomous driving applications. A system of semantic segmentation using 3D LiDAR data, including range image segmentation, sample generation, inter-frame…

3D occupancy becomes a promising perception representation for autonomous driving to model the surrounding environment at a fine-grained scale. However, it remains challenging to efficiently aggregate 3D occupancy over time across multiple…