自动驾驶

Multi-Agent Autonomous Driving Systems with Large Language Models: A Survey of Recent Advances

Yaozu Wu, Dongyuan Li, Yankai Chen, Renhe Jiang, Henry Peng Zou, Wei-Chieh Huang, Yangning Li, Liancheng Fang, Zhen Wang, Philip S. Yu

机构 * The University of Tokyo（东京大学） ； Cornell University（康奈尔大学） ； University of Illinois Chicago（伊利诺伊大学香槟分校） 纠错

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

Out-of-Distribution Detection in LiDAR Semantic Segmentation Using Epistemic Uncertainty from Hierarchical GMMs

Hanieh Shojaei Miandashti, Claus Brenner

机构 * Leibniz University Hannover（莱布尼茨汉诺威大学） 纠错

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

Robust Object Detection for Autonomous Driving via Curriculum-Guided Group Relative Policy Optimization

Xu Jia

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

Comparative Analysis of YOLOv5, Faster R-CNN, SSD, and RetinaNet for Motorbike Detection in Kigali Autonomous Driving Context

Ngeyen Yinkfu, Sunday Nwovu, Jonathan Kayizzi, Angelique Uwamahoro

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

Comments 3 figures, 2 tables

V2X-UniPool: Unifying Multimodal Perception and Knowledge Reasoning for Autonomous Driving

Xuewen Luo, Fengze Yang, Fan Ding, Xiangbo Gao, Shuo Xing, Yang Zhou, Zhengzhong Tu, Chenxi Liu

机构 * University of Utah（犹他大学） ； Monash University（莫纳什大学） ； Texas A&M University（德克萨斯农工大学） 纠错

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

Beyond Overall Accuracy: Pose- and Occlusion-driven Fairness Analysis in Pedestrian Detection for Autonomous Driving

Mohammad Khoshkdahan, Arman Akbari, Arash Akbari, Xuan Zhang

机构 * Institute of Applied Informatics and Formal Description Methods, Karlsruhe Institute of Technology（应用信息学院与形式描述方法研究所，卡尔斯鲁厄技术大学） ； Department of Electrical and Computer Engineering, Northeastern University（电气与计算机工程系，东北大学） 纠错

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

Comments \c{opyright} 2025 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

3DGAA: Realistic and Robust 3D Gaussian-based Adversarial Attack for Autonomous Driving

Yixun Zhang, Lizhi Wang, Junjun Zhao, Wending Zhao, Feng Zhou, Yonghao Dang, Jianqin Yin

机构 * School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, China（智能工程与自动化学院，北京邮电大学） 纠错

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

Comments Submitted to WACV 2026

Boosting LiDAR-Based Localization with Semantic Insight: Camera Projection versus Direct LiDAR Segmentation

Sven Ochs, Philip Schörner, Marc René Zofka, J. Marius Zöllner

机构 * Department of Technical Cognitive Systems, FZI Research Center for Information Technology（技术认知系统部门，信息技术研究所以暨创新中心） ； Karlsruhe Institute of Technology (KIT)（卡尔斯鲁厄大学） 纠错

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

Lidar-based Tracking of Traffic Participants with Sensor Nodes in Existing Urban Infrastructure

Simon Schäfer, Bassam Alrifaee, Ehsan Hashemi

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

Comments 21 pages, 9 figures, this work was submitted to Wileys'Advanced Intelligent Systems for review

LiDAR MOT-DETR: A LiDAR-based Two-Stage Transformer for 3D Multiple Object Tracking

Martha Teiko Teye, Ori Maoz, Matthias Rottmann

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

Comments Camera-ready copy

PERAL: Perception-Aware Motion Control for Passive LiDAR Excitation in Spherical Robots

Shenghai Yuan, Jason Wai Hao Yee, Weixiang Guo, Zhongyuan Liu, Thien-Minh Nguyen, Lihua Xie

机构 * Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University（先进机器人技术创新中心（CARTIN）、电气与电子工程学院、南洋理工大学） 纠错

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

Adversarial Appearance Learning in Augmented Cityscapes for Pedestrian Recognition in Autonomous Driving

Artem Savkin, Thomas Lapotre, Kevin Strauss, Uzair Akbar, Federico Tombari

机构 * TU Munich（慕尼黑技术大学） ； BMW AG（宝马集团） ； Google（谷歌） 纠错

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

HD-OOD3D: Supervised and Unsupervised Out-of-Distribution object detection in LiDAR data

Louis Soum-Fontez, Jean-Emmanuel Deschaud, François Goulette

机构 * Mines Paris, PSL University, Centre for robotics (CAOR)（巴黎 Mines 大学，机器人中心（CAOR）） ； U2IS, ENSTA, Institut Polytechnique de Paris（ENSTA，巴黎理工学院） 纠错

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

Comments IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

Real Time Semantic Segmentation of High Resolution Automotive LiDAR Scans

Hannes Reichert, Benjamin Serfling, Elijah Schüssler, Kerim Turacan, Konrad Doll, Bernhard Sick

机构 * Faculty of Engineering, University of Applied Sciences Aschaffenburg（应用科学阿施芬堡大学工程学院） ； Intelligent Embedded Systems Lab, University of Kassel（卡塞尔大学智能嵌入式系统实验室） 纠错

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

Sense4FL: Vehicular Crowdsensing Enhanced Federated Learning for Object Detection in Autonomous Driving

Yanan Ma, Senkang Hu, Zhengru Fang, Yun Ji, Yiqin Deng, Yuguang Fang

机构 * Hong Kong JC Lab of Smart City and the Department of Computer Science, City University of Hong Kong（香港JC智慧城市实验室和城市大学计算机科学系） ； Key Laboratory of Advanced Sensor and Integrated System, Tsinghua Shenzhen International Graduate School, Tsinghua University（先进传感器与集成系统重点实验室，清华大学深圳国际研究生院） 纠错

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

Comments 18 pages, 8 figures

High-Fidelity Digital Twins for Bridging the Sim2Real Gap in LiDAR-Based ITS Perception

Muhammad Shahbaz, Shaurya Agarwal

机构 * Department of Civil, Environmental and Construction Engineering, University of Central Florida（土木、环境与建设工程系，中央佛罗里达大学） 纠错

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

Vehicle-to-Everything Cooperative Perception for Autonomous Driving

Tao Huang, Jianan Liu, Xi Zhou, Dinh C. Nguyen, Mostafa Rahimi Azghadi, Yuxuan Xia, Qing-Long Han, Sumei Sun

机构 * College of Science and Engineering, James Cook University（科学与工程学院，詹姆斯库克大学） ； Momoni AI ； Department of Electrical and Computer Engineering, University of Alabama in Huntsville（电气与计算机工程系，阿拉巴马大学亨茨维尔分校） ； Department of Automation and Intelligent Sensing, Shanghai Jiaotong University（自动化与智能感知系，上海交通大学） ； School of Engineering, Swinburne University of Technology（工程学院，斯威本技术大学） ； Institute for Infocomm Research, Agency for Science, Technology and Research (A*STAR)（信息与通信研究机构，科技研究局（A*STAR）） 纠错

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

Comments This article has been accepted for publication in Proceedings of the IEEE on 11 August 2025

Enhancing Pseudo-Boxes via Data-Level LiDAR-Camera Fusion for Unsupervised 3D Object Detection

Mingqian Ji, Jian Yang, Shanshan Zhang

机构 * PCA Lab, School of Computer Science and Engineering, Nanjing University of Science and Technology（PCA实验室，计算机科学与工程学院，南京理工大学） 纠错

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

Comments Accepted by ACM MM 2025

LDRFusion: A LiDAR-Dominant multimodal refinement framework for 3D object detection

Jijun Wang, Yan Wu, Yujian Mo, Junqiao Zhao, Jun Yan, Yinghao Hu

机构 * School of Computer Science and Technology, Tongji University, Shanghai 201804, China（计算机科学与技术学院，同济大学，上海） ； School of Electronics and Information Engineering, Tongji University, Shanghai 201804, China（电子信息工程学院，同济大学，上海） 纠错

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

Enhanced Drift-Aware Computer Vision Architecture for Autonomous Driving

Md Shahi Amran Hossain, Abu Shad Ahammed, Sayeri Mukherjee, Roman Obermaisser

机构 * Chair of Embedded Systems University of Siegen（嵌入系统教授会 University of Siegen） 纠错

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

V2X-R: Cooperative LiDAR-4D Radar Fusion with Denoising Diffusion for 3D Object Detection

Xun Huang, Jinlong Wang, Qiming Xia, Siheng Chen, Bisheng Yang, Xin Li, Cheng Wang, Chenglu Wen

机构 * Fujian Key Laboratory of Sensing and Computing for Smart Cities, Xiamen University, China（福建智能城市感知与计算重点实验室，厦门大学） ； Key Laboratory of Multimedia Trusted Perception and Efficient Computing, Ministry of Education of China, Xiamen University, China（多媒体可信感知与高效计算重点实验室，中国教育部，厦门大学） ； Zhongguancun Academy（中关村学院） ； Shanghai Jiao Tong University（上海交通大学） ； Wuhan University（武汉大学） ； Texas A&M University（德克萨斯A&M大学） 纠错

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

Comments Accepted by CVPR2025

Multiscale Video Transformers for Class Agnostic Segmentation in Autonomous Driving

Leila Cheshmi, Mennatullah Siam

机构 * Ontariotechu（安大略理工学院） 纠错

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

Comments 6 pages, 2 figures, 1 table

EAROL: Environmental Augmented Perception-Aware Planning and Robust Odometry via Downward-Mounted Tilted LiDAR

Xinkai Liang, Yigu Ge, Yangxi Shi, Haoyu Yang, Xu Cao, Hao Fang

机构 * School of Automation, Beijing Institute of Technology（自动化学院，北京理工大学） 纠错

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

Comments Accepted by 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025). This work has been submitted to the IEEE for possible publication

Stereo-based 3D Anomaly Object Detection for Autonomous Driving: A New Dataset and Baseline

Shiyi Mu, Zichong Gu, Hanqi Lyu, Yilin Gao, Shugong Xu

机构 * School of Communication & Information Engineering at Shanghai University（上海大学通信与信息工程学院） 纠错

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

Comments under review

Refine-and-Contrast: Adaptive Instance-Aware BEV Representations for Multi-UAV Collaborative Object Detection

Zhongyao Li, Peirui Cheng, Liangjin Zhao, Chen Chen, Yundu Li, Zhechao Wang, Xue Yang, Xian Sun, Zhirui Wang

专题命中 感知 ：BEV(title,abstract)；分类 cs.CV

Comments 9 pages

Segmenting Objectiveness and Task-awareness Unknown Region for Autonomous Driving

Mi Zheng, Guanglei Yang, Zitong Huang, Zhenhua Guo, Kevin Han, Wangmeng Zuo

机构 * Harbin Institute of Technology（哈尔滨工业大学） ； Tianyijiaotong Technology Ltd.（天翼交通科技有限公司） ； Independent Researcher（独立研究者） 纠错

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

Perception in Plan: Coupled Perception and Planning for End-to-End Autonomous Driving

Bozhou Zhang, Jingyu Li, Nan Song, Li Zhang

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

Towards Powerful and Practical Patch Attacks for 2D Object Detection in Autonomous Driving

Yuxin Cao, Yedi Zhang, Wentao He, Yifan Liao, Yan Xiao, Chang Li, Zhiyong Huang, Jin Song Dong

机构 * State Key Laboratory of Intelligent Vehicle Safety Technology, Changan Automobile, Chongqing, China（中国汽车安全技术国家重点实验室） ； National University of Singapore（新加坡国立大学） ； Ningbo University（宁波大学） ； Sun Yat-Sen University（中山大学） 纠错

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

Comments 13 pages, 4 figures

PhysPatch: A Physically Realizable and Transferable Adversarial Patch Attack for Multimodal Large Language Models-based Autonomous Driving Systems

Qi Guo, Xiaojun Jia, Shanmin Pang, Simeng Qin, Lin Wang, Ju Jia, Yang Liu, Qing Guo

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

Context-aware Risk Assessment and Its Application in Autonomous Driving

Boyang Tian, Weisong Shi

机构 * Department of Computer and Information Sciences, University of Delaware（大学计算机与信息科学系） 纠错

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

Comments ITSC 2025, 7 pages