EgoFSD: Ego-Centric Fully Sparse Paradigm with Uncertainty Denoising and Iterative Refinement for End-To-End Self-Driving
Current End-to-End Autonomous Driving (E2E-AD) methods resort to unifying modular designs for various tasks (e.g. perception, prediction and planning). Although optimized with a fully differentiable framework in a planning-oriented manner, existing end-to-end driving systems lacking ego-centric desi…