19 accepted papers
3D occupancy prediction provides dense spatial understanding critical for safe autonomous driving. However, this task suffers from a severe class imbalance due to its volumetric representation, where safety-critical objects (bicycles, traffic cones, pedestrians) occupy minimal voxels compared to dom
Recent advances in end-to-end autonomous driving (E2E AD) often rely on direct expert trajectory imitation to train planners. While promising, these methods are susceptible to biases and compounding errors, which can compromise safety and road compliance. Inverse Optimal Control (IOC) has the potent
Neural radiance fields (NeRFs) have emerged as a prominent pre-training paradigm for vision-centric autonomous driving, which enhances 3D geometry and appearance understanding in a fully self-supervised manner. To apply NeRF-based pre-training to 3D perception models, recent approaches have simply a…
Recently, camera-radar fusion-based 3D object detection methods in bird's eye view (BEV) have gained attention due to the complementary characteristics and cost-effectiveness of these sensors. Previous approaches using forward projection struggle with sparse BEV feature generation, while those emplo
Vision-based 3D occupancy prediction has made significant advancements, but its reliance on cameras alone struggles in challenging environments. This limitation has driven the adoption of sensor fusion, among which camera-radar fusion stands out as a promising solution due to their complementary str
Embodied AI such as autonomous vehicles suffers from insufficient long-tailed data because it must be obtained from the physical world. In fact data must be continuously obtained in a series of small batches and the model must also be continuously trained to achieve generalizability and scalability…
Collision Avoidance/Mitigation System (CAMS) for autonomous vehicles is a crucial technology that ensures the safety and reliability of autonomous driving systems. Conventional collision avoidance approaches struggle in complex and various scenarios by avoiding collisions based on rules for specific…
The deployment of autonomous vehicles and mobile robots requires light, fast, and robust visual place recognition strategies. While visual place recognition has proven effective in favorable conditions, its performance quickly drops when faced with abundant visual cues, such as repeating image patte
While LiDAR sensors have been successfully applied to 3D object detection, the affordability of radar and camera sensors has led to a growing interest in fusing radars and cameras for 3D object detection. However, previous radar-camera fusion models could not fully utilize the potential of radar inf…
The inherent noisy and sparse characteristics of radar data pose challenges in finding effective representations for 3D object detection. In this paper we propose RadarDistill a novel knowledge distillation (KD) method which can improve the representation of radar data by leveraging LiDAR data. Rada…
Camera and radar sensors have significant advantages in cost, reliability, and maintenance compared to LiDAR. Existing fusion methods often fuse the outputs of single modalities at the result-level, called the late fusion strategy. This can benefit from using off-the-shelf single sensor detection al…
Autonomous driving requires an accurate and fast 3D perception system that includes 3D object detection, tracking, and segmentation. Although recent low-cost camera-based approaches have shown promising results, they are susceptible to poor illumination or bad weather conditions and have a large loc…
Prior studies in the field of motion predictions for autonomous driving tend to focus on finding a trajectory that is close to the ground truth trajectory, which is highly biased toward straight maneuvers. Such problem formulations and imbalanced distribution of datasets, however, frequently lead to
Autonomous driving powered by deep learning requires large-scale, high-quality training data from diverse driving environments to operate effectively worldwide. However, collecting and annotating such data is costly and time-consuming. To address this challenge, active learning methods have been exp…
Recent camera-based 3D object detection methods have introduced sequential frames to improve the detection performance hoping that multiple frames would mitigate the large depth estimation error. Despite improved detection performance, prior works rely on naive fusion methods (e.g., concatenation) o…
In this paper, we propose a new joint object detection and tracking (JoDT) framework for 3D object detection and tracking based on camera and LiDAR sensors. The proposed method, referred to as 3D DetecTrack, enables the detector and tracker to cooperate to generate a spatio-temporal representation o…
In this paper, we address the problem of predicting the future motion of a dynamic agent (called a target agent) given its current and past states as well as the information on its environment. It is paramount to develop a prediction model that can exploit the contextual information in both static a…
Robust and accurate scene representation is essential for advanced driver assistance systems (ADAS) such as automated driving. The radar and camera are two widely used sensors for commercial vehicles due to their low-cost, high-reliability, and low-maintenance. Despite their strengths, radar and cam…
Predicting the future trajectory of surrounding vehicles in a randomly varying traffic level is one of the most challenging problems in developing an autonomous vehicle. Since there is no pre-defined number of interacting vehicles participated in, the prediction network has to be scalable with respe…