Bird's-Eye View (BEV) end-to-end instance prediction has emerged as a robust paradigm for autonomous driving perception, effectively mitigating the error propagation inherent in traditional modular pipelines. However, current state-of-the-art approaches rely predominantly on geometric supervision, such as occupancy regression and optical flow, effectively treating scene agents as generic moving obstacles. This absence of explicit semantic awareness imposes limitations on the capacity of the model to solve ambiguities in complex scenarios, particularly those where object-specific behavior is essential for accurate forecasting (e.g. overtaking, intersections). In this paper, we introduce Text-Guided Representation for Instance Prediction (TGRIP), a novel framework that bridges this gap by injecting rich semantic priors into the instance prediction loop. The proposed teacher-student pipeline employs Vision-Language Foundation Models to generate dense, semantic-enhanced BEV maps from multi-camera images. These maps serve as auxiliary supervision during training, guiding the network to learn spatio-temporal representations that are not only geometrically consistent but also semantically discriminative. To the best of our knowledge, this represents the first attempt to unify semantic guidance with the temporal task of future instance prediction. The experimental results demonstrate that TGRIP surpasses existing state-of-the-art models in nuScenes, validating the hypothesis that semantic enrichment is a fundamental element for robust, end-to-end motion prediction. Code is available on https://github.com/miguelag99/TGRIP.
Holistically understanding an object and its 3D movable parts through visual perception models is essential for enabling an autonomous agent to interact with the world. For autonomous driving, the dynamics and states of vehicle parts such as doors, the trunk, and the bonnet can provide meaningful semantic information and interaction states, which are essential to ensuring the safety of the self-driving vehicle. Existing visual perception models mainly focus on coarse parsing such as object bounding box detection or pose estimation and rarely tackle these situations. In this paper, we address t…
University of Oslo（奥斯陆大学）；Graz University of Technology（格拉茨技术大学）
Electric vehicles (EVs) and plug-in hybrid vehicles (PHEVs) are rapidly gaining popularity on our roads. Besides a comparatively high purchasing price, the main two problems limiting their use are the short driving range and inconvenient charging process. In this paper we address the following by presenting an automatic robot-based charging station with 3D vision guidance for plugging and unplugging the charger. First of all, the whole system concept consisting of a 3D vision system, an UR10 robot and a charging station is presented. Then we show the shape-based matching methods used to succes…
Technion - Israel Institute of Technology（以色列理工学院）；Bosch Center for Artificial Intelligence（博世人工智能中心）
Autonomous driving gained huge traction in recent years, due to its potential to change the way we commute. Much effort has been put into trying to estimate the state of a vehicle. Meanwhile, learning to forecast the state of a vehicle ahead introduces new capabilities, such as predicting dangerous situations. Moreover, forecasting brings new supervision opportunities by learning to predict richer a context, expressed by multiple horizons. Intuitively, a video stream originated from a front-facing camera is necessary because it encodes information about the upcoming road. Besides, historical t…
Understanding complex scenarios from in-vehicle cameras is essential for safely operating autonomous driving systems in densely populated areas. Among these, intersection areas are one of the most critical as they concentrate a considerable number of traffic accidents and fatalities. Detecting and understanding the scene configuration of these usually crowded areas is then of extreme importance for both autonomous vehicles and modern ADAS aimed at preventing road crashes and increasing the safety of vulnerable road users. This work investigates inter-section classification from RGB images usin…
Vehicle re-identification (reID) plays an important role in the automatic analysis of the increasing urban surveillance videos, which has become a hot topic in recent years. However, it poses the critical but challenging problem that is caused by various viewpoints of vehicles, diversified illuminations and complicated environments. Till now, most existing vehicle reID approaches focus on learning metrics or ensemble to derive better representation, which are only take identity labels of vehicle into consideration. However, the attributes of vehicle that contain detailed descriptions are benef…
Vehicle re-identification (re-ID) focuses on matching images of the same vehicle across different cameras. It is fundamentally challenging because differences between vehicles are sometimes subtle. While several studies incorporate spatial-attention mechanisms to help vehicle re-ID, they often require expensive keypoint labels or suffer from noisy attention mask if not trained with expensive labels. In this work, we propose a dedicated Semantics-guided Part Attention Network (SPAN) to robustly predict part attention masks for different views of vehicles given only image-level semantic labels d…
Vehicle re-identification is one of the core technologies of intelligent transportation systems and smart cities, but large intra-class diversity and inter-class similarity poses great challenges for existing method. In this paper, we propose a multi-guided learning approach which utilizing the information of attributes and meanwhile introducing two novel random augments to improve the robustness during training. What's more, we propose an attribute constraint method and group re-ranking strategy to refine matching results. Our method achieves mAP of 66.83% and rank-1 accuracy 76.05% in the CV…
Tongji University（同济大学）；Shanghai Institute of Intelligent Science & Technology, Tongji University（同济大学上海智能科学与技术研究院）；The University of Adelaide（阿德莱德大学）
Vehicle instance retrieval often requires one to recognize the fine-grained visual differences between vehicles. Besides the holistic appearance of vehicles which is easily affected by the viewpoint variation and distortion, vehicle parts also provide crucial cues to differentiate near-identical vehicles. Motivated by these observations, we introduce a Part-Guided Attention Network (PGAN) to pinpoint the prominent part regions and effectively combine the global and part information for discriminative feature learning. PGAN first detects the locations of different part components and salient re…
Chang’an University（长安大学）；National University of Singapore（新加坡国立大学）
Vehicle re-identification is a cross-view search task by matching the same target vehicle from different perspectives. It serves an important role in road-vehicle collaboration and intelligent road control. With the large-scale and dynamic road environment, the paradigm of supervised vehicle re-identification shows limited scalability because of the heavy reliance on large-scale annotated datasets. Therefore, the unsupervised vehicle re-identification with stronger cross-scene generalization ability has attracted more attention. Considering that Masked Autoencoder (MAE) has shown excellent per…
Anhui University（安徽大学）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；Edinburgh Napier University（爱丁堡纳皮尔大学）
Vehicle Re-ID has recently attracted enthusiastic attention due to its potential applications in smart city and urban surveillance. However, it suffers from large intra-class variation caused by view variations and illumination changes, and inter-class similarity especially for different identities with the similar appearance. To handle these issues, in this paper, we propose a novel deep network architecture, which guided by meaningful attributes including camera views, vehicle types and colors for vehicle Re-ID. In particular, our network is end-to-end trained and contains three subnetworks …
This work proposes a novel motion guided method for target-less self-calibration of a LiDAR and camera and use the re-projection of LiDAR points onto the image reference frame for real-time depth upsampling. The calibration parameters are estimated by optimizing an objective function that penalizes distances between 2D and re-projected 3D motion vectors obtained from time-synchronized image and point cloud sequences. For upsampling, a simple, yet effective and time efficient formulation that minimizes depth gradients subject to an equality constraint involving the LiDAR measurements is propose…
VehicleGAN: Pair-flexible Pose Guided Image Synthesis for Vehicle Re-identification
Center for Frontier AI Research (CFAR), Agency for Science, Technology, and Research (A*STAR)（新加坡科技研究局前沿人工智能研究中心）；University of South Carolina（南卡罗来纳大学）；Cleveland State University（克利夫兰州立大学）
State Key Laboratory of Computer Science Institute of Software Chinese Academy of Sciences（中国科学院软件研究所计算机科学国家重点实验室）；University of Chinese Academy of Sciences（中国科学院大学）；Machine Intelligence Technology Lab Alibaba Group（阿里巴巴集团机器智能技术实验室）
Multi-Target Multi-Camera Tracking has a wide range of applications and is the basis for many advanced inferences and predictions. This paper describes our solution to the Track 3 multi-camera vehicle tracking task in 2021 AI City Challenge (AICITY21). This paper proposes a multi-target multi-camera vehicle tracking framework guided by the crossroad zones. The framework includes: (1) Use mature detection and vehicle re-identification models to extract targets and appearance features. (2) Use modified JDETracker (without detection module) to track single-camera vehicles and generate single-came…
PG-Attack: A Precision-Guided Adversarial Attack Framework Against Vision Foundation Models for Autonomous Driving
Fudan University（复旦大学）；Shanghai Key Lab of Intelligent Information Processing（上海智能信息处理重点实验室）；School of Computer Science, Fudan University（复旦大学计算机科学技术学院）；Shanghai Engineering Research Center of AI & Robotics（上海人工智能与机器人工程研究中心）；Academy for Engineering & Technology, Fudan University（复旦大学工程技术研究院）
MM-TRELLIS: Point-Cloud Guided Multi-Modal 3D Vehicle Generation in Autonomous Driving
MoE Key Lab of Artificial Intelligence, AI Institute, Shanghai Jiao Tong University（上海交通大学人工智能研究院教育部人工智能重点实验室）；Academy of Military Science（军事科学院）；Bosch innovation software development (Wuxi) Co., Ltd.（博世创新软件开发（无锡）有限公司）；College of Computer Science and Technology, National University of Defense Technology（国防科技大学计算机学院）；Shopee Pte. Ltd.（Shopee私人有限公司）
University of Nevada, Reno（内华达大学里诺分校）；Stevens Institute of Technology（斯蒂文斯理工学院）
While adversarial neural networks have been shown successful for static image attacks, very few approaches have been developed for attacking online image streams while taking into account the underlying physical dynamics of autonomous vehicles, their mission, and environment. This paper presents an online adversarial machine learning framework that can effectively misguide autonomous vehicles' missions. In the existing image attack methods devised toward autonomous vehicles, optimization steps are repeated for every image frame. This framework removes the need for fully converged optimization …
To drive safely in complex traffic environments, autonomous vehicles need to make an accurate prediction of the future trajectories of nearby heterogeneous traffic agents (i.e., vehicles, pedestrians, bicyclists, etc). Due to the interactive nature, human drivers are accustomed to infer what the future situations will become if they are going to execute different maneuvers. To fully exploit the impacts of interactions, this paper proposes a ego-planning guided multi-graph convolutional network (EPG-MGCN) to predict the trajectories of heterogeneous agents using both historical trajectory infor…
Inspired by human vision, we propose a new periphery-fovea multi-resolution driving model that predicts vehicle speed from dash camera videos. The peripheral vision module of the model processes the full video frames in low resolution. Its foveal vision module selects sub-regions and uses high-resolution input from those regions to improve its driving performance. We train the fovea selection module with supervision from driver gaze. We show that adding high-resolution input from predicted human driver gaze locations significantly improves the driving accuracy of the model. Our periphery-fovea…
Goethe University（歌德大学）；Norwegian Open AI Lab（挪威开放人工智能实验室）；NTNU（挪威科技大学）
Autonomous vehicles and robots require a full scene understanding of the environment to interact with it. Such a perception typically incorporates pixel-wise knowledge of the depths and semantic labels for each image from a video sensor. Recent learning-based methods estimate both types of information independently using two separate CNNs. In this paper, we propose a model that is able to predict both outputs simultaneously, which leads to improved results and even reduced computational costs compared to independent estimation of depth and semantics. We also empirically prove that the CNN is c…
Understanding the world around us and making decisions about the future is a critical component to human intelligence. As autonomous systems continue to develop, their ability to reason about the future will be the key to their success. Semantic anticipation is a relatively under-explored area for which autonomous vehicles could take advantage of (e.g., forecasting pedestrian trajectories). Motivated by the need for real-time prediction in autonomous systems, we propose to decompose the challenging semantic forecasting task into two subtasks: current frame segmentation and future optical flow …
National Taiwan University（台湾大学）；Carnegie Mellon University（卡内基梅隆大学）
Person re-identification (re-ID) requires one to match images of the same person across camera views. As a more challenging task, semi-supervised re-ID tackles the problem that only a number of identities in training data are fully labeled, while the remaining are unlabeled. Assuming that such labeled and unlabeled training data share disjoint identity labels, we propose a novel framework of Semantics-Guided Clustering with Deep Progressive Learning (SGC-DPL) to jointly exploit the above data. By advancing the proposed Semantics-Guided Affinity Propagation (SG-AP), we are able to assign pseudo…
To reduce the amount of transmitted data, feature map based fusion is recently proposed as a practical solution to cooperative 3D object detection by autonomous vehicles. The precision of object detection, however, may require significant improvement, especially for objects that are far away or occluded. To address this critical issue for the safety of autonomous vehicles and human beings, we propose a cooperative spatial feature fusion (CoFF) method for autonomous vehicles to effectively fuse feature maps for achieving a higher 3D object detection performance. Specially, CoFF differentiates w…
Stevens Institute of Technology（史蒂文斯理工学院）；University of Nevada, Reno（内华达大学雷诺分校）
The deep neural network (DNN) models for object detection using camera images are widely adopted in autonomous vehicles. However, DNN models are shown to be susceptible to adversarial image perturbations. In the existing methods of generating the adversarial image perturbations, optimizations take each incoming image frame as the decision variable to generate an image perturbation. Therefore, given a new image, the typically computationally-expensive optimization needs to start over as there is no learning between the independent optimizations. Very few approaches have been developed for attac…
This paper presents two variations of architecture referred to as RANet and BIRANet. The proposed architecture aims to use radar signal data along with RGB camera images to form a robust detection network that works efficiently, even in variable lighting and weather conditions such as rain, dust, fog, and others. First, radar information is fused in the feature extractor network. Second, radar points are used to generate guided anchors. Third, a method is proposed to improve region proposal network targets. BIRANet yields 72.3/75.3% average AP/AR on the NuScenes dataset, which is better than t…
Towards Accurate and Robust Surveillance Roadside IVD via Trackletized Audio-Visual Reasoning
Kahlert School of Computing, University of Utah（犹他大学卡勒特计算学院）；Scientific Computing and Imaging Institute, University of Utah（犹他大学科学计算与成像研究所）；Department of Electrical and Computer Engineering, University of Utah（犹他大学电气与计算机工程系）
