相关论文: Weakly Supervised Cross-Modal Learning for 4D Rada…

Image instance segmentation is a fundamental research topic in autonomous driving, which is crucial for scene understanding and road safety. Advanced learning-based approaches often rely on the costly 2D mask annotations for training. In…

Radar has stronger adaptability in adverse scenarios for autonomous driving environmental perception compared to widely adopted cameras and LiDARs. Compared with commonly used 3D radars, the latest 4D radars have precise vertical resolution…

Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…

The success of supervised learning requires large-scale ground truth labels which are very expensive, time-consuming, or may need special skills to annotate. To address this issue, many self- or un-supervised methods are developed. Unlike…

Video anomaly detection (VAD) in autonomous driving scenario is an important task, however it involves several challenges due to the ego-centric views and moving camera. Due to this, it remains largely under-explored. While recent…

Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…

This work presents DCFlow, a novel unsupervised cross-modal flow estimation framework that integrates a decoupled optimization strategy and a cross-modal consistency constraint. Unlike previous approaches that implicitly learn flow…

4D mmWave radar provides weather-robust, velocity-aware measurements and is more cost-effective than LiDAR. However, radar-only 3D detection still trails LiDAR-based systems because radar point clouds are sparse, irregular, and often…

Deep learning has shown remarkable performance in medical image segmentation. However, despite its promise, deep learning has many challenges in practice due to its inability to effectively transition to unseen domains, caused by the…

In this work, we study self-supervised multiple object tracking without using any video-level association labels. We propose to cast the problem of multiple object tracking as learning the frame-wise associations between detections in…

Weakly supervised object detection has recently received much attention, since it only requires image-level labels instead of the bounding-box labels consumed in strongly supervised learning. Nevertheless, the save in labeling expense is…

Object detection is essential to safe autonomous or assisted driving. Previous works usually utilize RGB images or LiDAR point clouds to identify and localize multiple objects in self-driving. However, cameras tend to fail in bad driving…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

Monocular 3D object detection poses a significant challenge in 3D scene understanding due to its inherently ill-posed nature in monocular depth estimation. Existing methods heavily rely on supervised learning using abundant 3D labels,…

State-of-the-art visual recognition and detection systems increasingly rely on large amounts of training data and complex classifiers. Therefore it becomes increasingly expensive both to manually annotate datasets and to keep running times…

In the field of autonomous driving, self-training is widely applied to mitigate distribution shifts in LiDAR-based 3D object detectors. This eliminates the need for expensive, high-quality labels whenever the environment changes (e.g.,…

We present an unsupervised learning framework for simultaneously training single-view depth prediction and optical flow estimation models using unlabeled video sequences. Existing unsupervised methods often exploit brightness constancy and…

Dense ground displacement measurements are crucial for geological studies but are impractical to collect directly. Traditionally, displacement fields are estimated using patch matching on optical satellite images from different acquisition…

Most of the existing self-supervised feature learning methods for 3D data either learn 3D features from point cloud data or from multi-view images. By exploring the inherent multi-modality attributes of 3D objects, in this paper, we propose…

3D perception in LiDAR point clouds is crucial for a self-driving vehicle to properly act in 3D environment. However, manually labeling point clouds is hard and costly. There has been a growing interest in self-supervised pre-training of 3D…