相关论文: Localization-Guided Foreground Augmentation in Aut…

Multi-modal systems enhance performance in autonomous driving but face inefficiencies due to indiscriminate processing within each modality. Additionally, the independent feature learning of each modality lacks interaction, which results in…

Visual localization on standard-definition (SD) maps has emerged as a promising low-cost and scalable solution for autonomous driving. However, existing regression-based approaches often overlook inherent geometric priors, resulting in…

High-quality digital terrain models derived from airborne laser scanning (ALS) data are essential for a wide range of geospatial analyses, and their generation typically relies on robust ground filtering (GF) to separate point clouds across…

Radars provide robust perception of vehicle surroundings by effectively functioning in poor light and adverse weather conditions. Synthetic aperture radar (SAR) algorithms are employed to address the limited angular resolution of radars by…

Collaborative perception enhances the reliability and spatial coverage of autonomous vehicles by sharing complementary information across vehicles, offering a promising solution to long-tail scenarios that challenge single-vehicle…

Vision-Language-Action (VLA) models have recently achieved notable progress in end-to-end autonomous driving by integrating perception, reasoning, and control within a unified multimodal framework. However, they often lack explicit modeling…

Visual perception in autonomous driving is a crucial part of a vehicle to navigate safely and sustainably in different traffic conditions. However, in bad weather such as heavy rain and haze, the performance of visual perception is greatly…

Transformer-based general visual geometry frameworks have shown promising performance in camera pose estimation and 3D scene understanding. Recent advancements in Visual Geometry Grounded Transformer (VGGT) models have shown great promise…

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…

Autonomous driving requires accurate and detailed Bird's Eye View (BEV) semantic segmentation for decision making, which is one of the most challenging tasks for high-level scene perception. Feature transformation from frontal view to BEV…

This paper presents an unsupervised deep-learning framework named Local Deep-Feature Alignment (LDFA) for dimension reduction. We construct neighbourhood for each data sample and learn a local Stacked Contractive Auto-encoder (SCAE) from…

Accurate localization of other traffic participants is a vital task in autonomous driving systems. State-of-the-art systems employ a combination of sensing modalities such as RGB cameras and LiDARs for localizing traffic participants, but…

Generative image models are increasingly being used for training data augmentation in vision tasks. In the context of automotive object detection, methods usually focus on producing augmented frames that look as realistic as possible, for…

Ego-centric driving videos available online provide an abundant source of visual data for autonomous driving, yet their lack of annotations makes it difficult to learn representations that capture both semantic structure and 3D geometry.…

Robust localization is the cornerstone of autonomous driving, especially in challenging urban environments where GPS signals suffer from multipath errors. Traditional localization approaches rely on high-definition (HD) maps, which consist…

Learning to drive faithfully in highly stochastic urban settings remains an open problem. To that end, we propose a Multi-task Learning from Demonstration (MT-LfD) framework which uses supervised auxiliary task prediction to guide the main…

HD map reconstruction is crucial for autonomous driving. LiDAR-based methods are limited due to expensive sensors and time-consuming computation. Camera-based methods usually need to perform road segmentation and view transformation…

Understanding road geometry is a critical component of the autonomous vehicle (AV) stack. While high-definition (HD) maps can readily provide such information, they suffer from high labeling and maintenance costs. Accordingly, many recent…

Despite the recent advances of deep neural networks, object detection for adverse weather remains challenging due to the poor perception of some sensors in adverse weather. Instead of relying on one single sensor, multimodal fusion has been…

Deep learning-based online mapping has emerged as a cornerstone of autonomous driving, yet these models frequently fail to generalize beyond familiar environments. We propose a framework to identify and measure the underlying failure modes…