自动驾驶

ELMAR: Enhancing LiDAR Detection with 4D Radar Motion Awareness and Cross-modal Uncertainty

Xiangyuan Peng, Miao Tang, Huawei Sun, Bierzynski Kay, Lorenzo Servadei, Robert Wille

机构 * Infineon Technologies AG and the Technical University of Munich（英飞凌科技有限公司和技术大学慕尼黑） ； China University of Geosciences（中国地质大学） ； Technical University of Munich（技术大学慕尼黑） 纠错

专题命中 感知 ：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments 7 pages. Accepted by IROS2025

UniDrive: Towards Universal Driving Perception Across Camera Configurations

Ye Li, Wenzhao Zheng, Xiaonan Huang, Kurt Keutzer

机构 * University of Michigan, Ann Arbor（密歇根大学） ； University of California, Berkeley（加州大学伯克利分校） 纠错

专题命中 感知 ：driving perception(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments ICLR 2025; 15 pages, 7 figures, 2 tables; Code at https://github.com/ywyeli/UniDrive

RealDriveSim: A Realistic Multi-Modal Multi-Task Synthetic Dataset for Autonomous Driving

Arpit Jadon, Haoran Wang, Phillip Thomas, Michael Stanley, S. Nathaniel Cibik, Rachel Laurat, Omar Maher, Lukas Hoyer, Ozan Unal, Dengxin Dai

机构 * German Aerospace Center（德国航空航天中心） ； Computer Vision Lab, Huawei Research Center Zurich（华为瑞士苏黎世研究中心计算机视觉实验室） ； Max Planck Institute for Informatics（马克斯·普朗克信息研究所） ； Parallel Domain（平行领域） ； ETH Zurich（苏黎世联邦理工学院） 纠错

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(abstract)；分类 cs.CV

Comments Accepted at the IEEE Intelligent Vehicles Symposium (IV) 2025

Implicit 3D scene reconstruction using deep learning towards efficient collision understanding in autonomous driving

Akarshani Ramanayake, Nihal Kodikara

机构 * School of Computing（计算学院） ； Informatics Institute of Technology（信息技术研究所） 纠错

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(abstract)；分类 cs.CV

VoxDet: Rethinking 3D Semantic Occupancy Prediction as Dense Object Detection

Wuyang Li, Zhu Yu, Alexandre Alahi

机构 * École Polytechnique Fédérale de Lausanne (EPFL)（瑞士联邦理工学院） ； Zhejiang University（浙江大学） 纠错

专题命中 感知 ：occupancy(title,abstract)；LiDAR(abstract)；分类 cs.CV

Comments Project Page: https://vita-epfl.github.io/VoxDet/

AWML: An Open-Source ML-based Robotics Perception Framework to Deploy for ROS-based Autonomous Driving Software

Satoshi Tanaka, Samrat Thapa, Kok Seang Tan, Amadeusz Szymko, Lobos Kenzo, Koji Minoda, Shintaro Tomie, Kotaro Uetake, Guolong Zhang, Isamu Yamashita, Takamasa Horibe

机构 * TIER IV, Inc（TIER IV公司） 纠错

专题命中 感知 ：autonomous driving(title,abstract)；self-driving(abstract)；分类 cs.RO

Comments 17 pages, 9 figures

OpenAD: Open-World Autonomous Driving Benchmark for 3D Object Detection

Zhongyu Xia, Jishuo Li, Zhiwei Lin, Xinhao Wang, Yongtao Wang, Ming-Hsuan Yang

机构 * Wangxuan Institute of Computer Technology, Peking University（北京大学计算机技术研究院） ； University of California, Merced（加州大学梅尔德分校） 纠错

专题命中 感知 ：autonomous driving(title,abstract)；driving perception(abstract)；分类 cs.CV

CodeMerge: Codebook-Guided Model Merging for Robust Test-Time Adaptation in Autonomous Driving

Huitong Yang, Zhuoxiao Chen, Fengyi Zhang, Zi Huang, Yadan Luo

机构 * The University of Queensland（昆士兰大学） 纠错

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(abstract)；分类 cs.CV

DB3D-L: Depth-aware BEV Feature Transformation for Accurate 3D Lane Detection

Yehao Liu, Xiaosu Xu, Zijian Wang, Yiqing Yao

专题命中 感知 ：BEV(title,abstract)；autonomous driving(abstract)；分类 cs.CV

MoRAL: Motion-aware Multi-Frame 4D Radar and LiDAR Fusion for Robust 3D Object Detection

Xiangyuan Peng, Yu Wang, Miao Tang, Bierzynski Kay, Lorenzo Servadei, Robert Wille

机构 * Technical University of Munich（慕尼黑技术大学） ； Infineon Technologies AG（英飞凌科技AG） ； China University of Geosciences（中国地质大学） 纠错

专题命中 感知 ：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

DepthFusion: Depth-Aware Hybrid Feature Fusion for LiDAR-Camera 3D Object Detection

Mingqian Ji, Jian Yang, Shanshan Zhang

专题命中 感知 ：LiDAR(title,abstract)；BEV(abstract)；分类 cs.CV

Camera-Only Bird's Eye View Perception: A Neural Approach to LiDAR-Free Environmental Mapping for Autonomous Vehicles

Anupkumar Bochare

机构 * Department of Computer Science and Engineering（计算机科学与工程系） 纠错

专题命中 感知 ：LiDAR(title,abstract)；BEV(abstract)；分类 cs.CV

Parallel Neural Computing for Scene Understanding from LiDAR Perception in Autonomous Racing

Suwesh Prasad Sah

机构 * Dept. Computer Science and Engineering（计算机科学与工程系） ； National Institute of Technology Rourkela（印度拉尔克学院技术学院） 纠错

专题命中 感知 ：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments IEEE/ISED 2024

Journal ref 12th International Conference on Intelligent Systems and Embedded Design (ISED-2024)

Inconsistency-based Active Learning for LiDAR Object Detection

Esteban Rivera, Loic Stratil, Markus Lienkamp

机构 * Technical University of Munich（慕尼黑技术大学） 纠错

专题命中 感知 ：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments Accepted in IV2025

ZFusion: An Effective Fuser of Camera and 4D Radar for 3D Object Perception in Autonomous Driving

Sheng Yang, Tong Zhan, Shichen Qiao, Jicheng Gong, Qing Yang, Jian Wang, Yanfeng Lu

机构 * School of Data Science, Fudan University（复旦大学数据科学学院） ； ZF (China) Investment Co., Ltd.（采埃孚（中国）投资有限公司） ； Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所） 纠错

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(abstract)；分类 cs.CV

Comments CVPR 2025 WDFM-AD

An Investigation of Beam Density on LiDAR Object Detection Performance

Christoph Griesbacher, Christian Fruhwirth-Reisinger

机构 * Institute of Visual Computing, TU Graz（格拉茨技术大学视觉计算研究所） ； Christian Doppler Laboratory for Embedded Machine Learning（克里斯蒂安·多普勒嵌入式机器学习实验室） 纠错

专题命中 感知 ：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments Accepted by CVWW 2025

You Only Click Once: Single Point Weakly Supervised 3D Instance Segmentation for Autonomous Driving

Guangfeng Jiang, Jun Liu, Yongxuan Lv, Yuzhi Wu, Xianfei Li, Wenlong Liao, Tao He, Pai Peng

机构 * University of Science and Technology of China（中国科学技术大学） ； COWAROBOT（酷哇机器人） 纠错

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(abstract)；分类 cs.CV

Evaluating the Impact of Synthetic Data on Object Detection Tasks in Autonomous Driving

Enes Özeren, Arka Bhowmick

机构 * BIT Technology Solutions GmbH（BIT技术解决方案有限公司） 纠错

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(abstract)；分类 cs.CV

Comments 7 pages, 4 figures, 3 tables

HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots

Qiang Zhang, Zhang Zhang, Wei Cui, Jingkai Sun, Jiahang Cao, Yijie Guo, Gang Han, Wen Zhao, Jiaxu Wang, Chenghao Sun, Lingfeng Zhang, Hao Cheng, Yujie Chen, Lin Wang, Jian Tang, Renjing Xu

机构 * Beijing Innovation Center of Humanoid Robotics（北京人形机器人创新中心） ； Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）） ； Hong Kong University of Science and Technology（香港科技大学） ； Beijing Institute of Technology（北京理工大学） ； ETH Zurich（苏黎世联邦理工学院） ； Nanyang Technological University（南洋理工大学） ； X-Humanoid（人形智能科技公司） 纠错

专题命中 感知 ：LiDAR(title,abstract)；BEV(abstract)；分类 cs.RO

Comments Technical Report

BEVMOSNet: Multimodal Fusion for BEV Moving Object Segmentation

Hiep Truong Cong, Ajay Kumar Sigatapu, Arindam Das, Yashwanth Sharma, Venkatesh Satagopan, Ganesh Sistu, Ciaran Eising

机构 * Valeo Kronach（法雷奥克罗纳赫） ； Valeo India（法雷奥印度） ； University of Limerick（利默里克大学） ； Valeo Vision Systems（法雷奥视觉系统） 纠错

专题命中 感知 ：BEV(title,abstract)；LiDAR(abstract)；分类 cs.CV

Comments In Proceedings of the 20th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (2025)

Road Boundary Detection Using 4D mmWave Radar for Autonomous Driving

Yuyan Wu, Hae Young Noh

机构 * Stanford University（斯坦福大学） 纠错

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(abstract)；分类 cs.CV

LV-DOT: LiDAR-visual dynamic obstacle detection and tracking for autonomous robot navigation

Zhefan Xu, Haoyu Shen, Xinming Han, Hanyu Jin, Kanlong Ye, Kenji Shimada

机构 * Carnegie Mellon University（卡内基梅隆大学） 纠错

专题命中 感知 ：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.RO

Comments 8 pages, 7 figures, 2 tables

On Onboard LiDAR-based Flying Object Detection

Matouš Vrba, Viktor Walter, Václav Pritzl, Michal Pliska, Tomáš Báča, Vojtěch Spurný, Daniel Heřt, Martin Saska

专题命中 感知 ：LiDAR(title,abstract)；occupancy(abstract)；分类 cs.RO

SynthmanticLiDAR: A Synthetic Dataset for Semantic Segmentation on LiDAR Imaging

Javier Montalvo, Pablo Carballeira, Álvaro García-Martín

机构 * Universidad Autónoma de Madrid（马德里自治大学） 纠错

专题命中 感知 ：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments 2024 IEEE International Conference on Image Processing (ICIP)

Journal ref 2024 IEEE International Conference on Image Processing (ICIP), Abu Dhabi, United Arab Emirates, 2024, pp. 137-143

HeightLane: BEV Heightmap guided 3D Lane Detection

Chaesong Park, Eunbin Seo, Jongwoo Lim

机构 * Seoul National University（首尔大学） 纠错

专题命中 感知 ：BEV(title,abstract)；LiDAR(abstract)；分类 cs.CV

Comments 10 pages, 6 figures, 5 tables

4D-CS: Exploiting Cluster Prior for 4D Spatio-Temporal LiDAR Semantic Segmentation

Jiexi Zhong, Zhiheng Li, Yubo Cui, Zheng Fang

机构 * Northeastern University（东北大学） ； National Frontiers Science Center for Industrial Intelligence and Systems Optimization, Northeastern University（东北大学工业智能与系统优化国家前沿科学中心） 纠错

专题命中 感知 ：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments Accepted for publication at IEEE Robotics and Automation Letters (RAL)

GeoBEV: Learning Geometric BEV Representation for Multi-view 3D Object Detection

Jinqing Zhang, Yanan Zhang, Yunlong Qi, Zehua Fu, Qingjie Liu, Yunhong Wang

专题命中 感知 ：BEV(title,abstract)；LiDAR(abstract)；分类 cs.CV

Comments Accepted by AAAI 2025

Timealign: A multi-modal object detection method for time misalignment fusing in autonomous driving

Zhihang Song, Lihui Peng, Jianming Hu, Danya Yao, Yi Zhang

机构 * Tsinghua University（清华大学） 纠错

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(abstract)；分类 cs.CV

Comments 8 pages, 3 figures

Improving Batch Normalization with TTA for Robust Object Detection in Self-Driving

Dacheng Liao, Mengshi Qi, Liang Liu, Huadong Ma

机构 * State Key Laboratory of Networking and Switching Technology（网络与交换技术国家重点实验室） ； Beijing University of Posts and Telecommunications（北京邮电大学） 纠错

专题命中 感知 ：self-driving(title)；autonomous driving(abstract)；driving perception(abstract)；分类 cs.CV

LSSInst: Improving Geometric Modeling in LSS-Based BEV Perception with Instance Representation

Weijie Ma, Jingwei Jiang, Yang Yang, Zehui Chen, Hao Chen

专题命中 感知 ：BEV(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments Accepted by 3DV 2025