相关论文: RS2AD-LiDAR: End-to-End Autonomous Driving LiDAR D…

In contrast to extensive studies on general vision, pre-training for scalable visual autonomous driving remains seldom explored. Visual autonomous driving applications require features encompassing semantics, 3D geometry, and temporal…

Road boundaries, or curbs, provide autonomous vehicles with essential information when interpreting road scenes and generating behaviour plans. Although curbs convey important information, they are difficult to detect in complex urban…

Human drivers rely on commonsense reasoning to navigate diverse and dynamic real-world scenarios. Existing end-to-end (E2E) autonomous driving (AD) models are typically optimized to mimic driving patterns observed in data, without capturing…

Despite rapid developments in visual image-based road detection, robustly identifying road areas in visual images remains challenging due to issues like illumination changes and blurry images. To this end, LiDAR sensor data can be…

LIDAR sensors are usually used to provide autonomous vehicles with 3D representations of their environment. In ideal conditions, geometrical models could detect the road in LIDAR scans, at the cost of a manual tuning of numerical…

End-to-end autonomous driving has emerged as a promising approach to unify perception, prediction, and planning within a single framework, reducing information loss and improving adaptability. However, existing methods often rely on fixed…

Autonomous driving is a major paradigm shift in transportation, with the potential to enhance safety, optimize traffic congestion, and reduce fuel consumption. Although autonomous vehicles rely on advanced sensors and on-board computing…

Urban intersections, dense with pedestrian and vehicular traffic and compounded by GPS signal obstructions from high-rise buildings, are among the most challenging areas in urban traffic systems. Traditional single-vehicle intelligence…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

Autonomous vehicle perception systems have traditionally relied on costly LiDAR sensors to generate precise environmental representations. In this paper, we propose a camera-only perception framework that produces Bird's Eye View (BEV) maps…

Online localization of road intersections is beneficial for autonomous vehicle localization, mapping and motion planning. Intersections offer strong landmarks for correcting vehicle pose estimation, anchoring new sensor data in up-to-date…

LiDAR sensors are becoming one of the most essential sensors in achieving full autonomy for self driving cars. LiDARs are able to produce rich, dense and precise spatial data, which can tremendously help in localizing and tracking a moving…

Training autonomous driving and navigation systems requires large and diverse point cloud datasets that capture complex edge case scenarios from various dynamic urban settings. Acquiring such diverse scenarios from real-world point cloud…

Multimodal image fusion and object detection are crucial for autonomous driving. While current methods have advanced the fusion of texture details and semantic information, their complex training processes hinder broader applications.…

In recent studies, numerous previous works emphasize the importance of semantic segmentation of LiDAR data as a critical component to the development of driver-assistance systems and autonomous vehicles. However, many state-of-the-art…

Simulation models for perception sensors are integral components of automotive simulators used for the virtual Verification and Validation (V\&V) of Autonomous Driving Systems (ADS). These models also serve as powerful tools for generating…

For end-to-end autonomous driving (E2E-AD), the evaluation system remains an open problem. Existing closed-loop evaluation protocols usually rely on simulators like CARLA being less realistic; while NAVSIM using real-world vision data, yet…

For realizing safe autonomous driving, the end-to-end delays of real-time object detection systems should be thoroughly analyzed and minimized. However, despite recent development of neural networks with minimized inference delays,…

We present 4DLidarOpen, a large-scale open multi-modal dataset for autonomous driving, centered on 4D frequency-modulated continuous-wave (FMCW) Lidar sensing. Unlike conventional time-of-flight Lidar datasets that mainly provide geometric…

A crucial component of an autonomous vehicle (AV) is the artificial intelligence (AI) is able to drive towards a desired destination. Today, there are different paradigms addressing the development of AI drivers. On the one hand, we find…