自动驾驶

An on-chip Pixel Processing Approach with 2.4μs latency for Asynchronous Read-out of SPAD-based dToF Flash LiDARs

基于SPAD的dToF飞利拍雷达异步读取的芯片像素处理方法

Yiyang Liu, Rongxuan Zhang, Istvan Gyongy, Alistair Gorman, Sarrah M. Patanwala, Filip Taneski, Robert K. Henderson

专题命中 感知 ：autonomous driving(abstract)；LiDAR(abstract)；分类 eess.IV

AI总结 本文提出了一种低延迟的异步像素处理方法，用于基于SPAD的dToF飞利拍雷达，通过事件驱动方式提升深度采集效率，同时优化计算负载与动态响应能力。

Uni-Mapper: Unified Mapping Framework for Multi-modal LiDARs in Complex and Dynamic Environments

Uni-Mapper：多模态激光雷达在复杂动态环境中的统一映射框架

Gilhwan Kang, Hogyun Kim, Byunghee Choi, Seokhwan Jeong, Young-Sik Shin, Younggun Cho

机构 * Hyundai Motor Company（现代汽车公司） ； Inha University（inha大学） ； Korea Institute of Machinery and Materials（韩国机械材料研究院） 纠错

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

AI总结 Uni-Mapper通过动态感知和多模态激光雷达融合技术，实现复杂动态环境下的统一地图构建与回环检测。

Comments 18 pages, 14 figures

Journal ref 2025

StereoMV2D: A Sparse Temporal Stereo-Enhanced Framework for Robust Multi-View 3D Object Detection

StereoMV2D: 一种稀疏时间立体增强框架，用于鲁棒的多视角3D目标检测

Di Wu, Feng Yang, Wenhui Zhao, Jinwen Yu, Pan Liao, Benlian Xu, Dingwen Zhang

机构 * the school of automation, Northwestern Polytechnical University（自动化学院，西北工业大学） ； the school of electronic and information engineering, Suzhou University of Science and Technology（电子信息工程学院，苏州科技大学） 纠错

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

AI总结 StereoMV2D通过整合时间立体建模，提升多视角3D目标检测的鲁棒性和精度，无需显著增加计算开销。

Comments 12 pages, 4 figures. This work has been submitted to the IEEE for possible publication

TransBridge: Boost 3D Object Detection by Scene-Level Completion with Transformer Decoder

TransBridge: 通过变换解码器进行场景级补全提升3D目标检测

Qinghao Meng, Chenming Wu, Liangjun Zhang, Jianbing Shen

机构 * School of Computer Science, Beijing Institute of Technology（北京理工大学计算机科学学院） ； Robotics and Autonomous Driving Lab (RAL), Baidu Research（百度研究机器人与自动驾驶实验室） ； State Key Laboratory of Internet of Things for Smart City, Department of Computer and Information Science, University of Macau（澳门大学智能城市物联网国家重点实验室，计算机与信息科学系） 纠错

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

AI总结 TransBridge通过变换解码器进行场景级补全，提升3D目标检测性能，实现稀疏区域特征增强和密集点云生成

Comments 12 pages, 9 figures

Rethinking the Encoding and Annotating of 3D Bounding Box: Corner-Aware 3D Object Detection from Point Clouds

重新思考3D边界框的编码与标注：从点云中基于角点的3D目标检测

Qinghao Meng, Junbo Yin, Jianbing Shen, Yunde Jia

机构 * School of Computer Science, Beijing Institute of Technology（计算机科学学院，北京理工大学） ； Computer Science Program, Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division, Center of Excellence for Smart Health, and Center of Excellence for Generative AI, King Abdullah University of Science and Technology (KAUST)（计算机科学项目，计算机、电气和数学科学与工程（CEMSE）部门，智能健康卓越中心，生成人工智能卓越中心，国王阿卜杜勒·阿齐兹大学科学与技术（KAUST）） ； State Key Laboratory of Internet of Things for Smart City, Department of Computer and Information Science, University of Macau（智慧城市物联网国家重点实验室，澳门大学计算机与信息科学系） ； Guangdong Provincial Key Laboratory of Machine Perception and Intelligent Computing, Shenzhen MSU-BIT University（广东省机器感知与智能计算重点实验室，深圳MSU-BIT大学） ； Beijing Key Laboratory of Intelligent Information Technology, School of Computer Science, Beijing Institute of Technology（北京智能信息技术重点实验室，计算机科学学院，北京理工大学） 纠错

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

AI总结 本文提出基于角点的3D目标检测方法，通过角点对齐回归提升检测性能，仅需BEV角点点击即可达到接近全监督的准确率。

Comments 8 pages, 5 figures, 2 tables

SFMNet: Sparse Focal Modulation for 3D Object Detection

Oren Shrout, Ayellet Tal

机构 * Technion, Israel（技术离子大学） 纠错

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

Comments WACV 2026

FQ-PETR: Fully Quantized Position Embedding Transformation for Multi-View 3D Object Detection

Jiangyong Yu, Changyong Shu, Sifan Zhou, Zichen Yu, Xing Hu, Yan Chen, Dawei Yang

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

Comments I made an operational error. I intended to update the paper with Identifier arXiv:2502.15488, not submit a new paper with a different identifier. Therefore, I would like to withdraw the current submission and resubmit an updated version for Identifier arXiv:2502.15488

DGFusion: Dual-guided Fusion for Robust Multi-Modal 3D Object Detection

Feiyang Jia, Caiyan Jia, Ailin Liu, Shaoqing Xu, Qiming Xia, Lin Liu, Lei Yang, Yan Gong, Ziying Song

机构 * School of Computer Science and Technology, Beijing Key Laboratory of Traffic Data Mining and Embodied Intelligence, Beijing Jiaotong University（计算机科学与技术学院、交通数据挖掘与具身智能北京市重点实验室、北京交通大学） ； State Key Laboratory of Internet of Things for Smart City and Department of Electrome chanical Engineering, University of Macau（智能城市物联网国家重点实验室、澳门大学机电工程系） ； Fujian Key Laboratory of Sensing and Computing for Smart Cities, Xiamen University（智能城市感知与计算福建省重点实验室、厦门大学） ； School of Mechanical and Aerospace Engineering, Nanyang Technological University（机械与航空航天工程学院、南洋理工大学） ； State Key Laboratory of Robotics and System, Harbin Institute of Technology（机器人系统国家重点实验室、哈尔滨工业大学） 纠错

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

FASTopoWM: Fast-Slow Lane Segment Topology Reasoning with Latent World Models

Yiming Yang, Hongbin Lin, Yueru Luo, Suzhong Fu, Chao Zheng, Xinrui Yan, Shuqi Mei, Kun Tang, Shuguang Cui, Zhen Li

机构 * FNii, CUHK-Shenzhen（CUHK-Shenzhen研究院） ； SSE, CUHK-Shenzhen（CUHK-Shenzhen学院） ； T Lab, Tencent（腾讯实验室） 纠错

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

Learning Temporal 3D Semantic Scene Completion via Optical Flow Guidance

Meng Wang, Fan Wu, Ruihui Li, Yunchuan Qin, Zhuo Tang, Kenli Li

机构 * College of Computer Science and Electronic Engineering, Hunan University（湖南大学计算机科学与电子工程学院） ； State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle, Hunan University（车辆先进设计与制造技术国家重点实验室） 纠错

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

Comments Accepted by NeurIPS 2025

Evaluating the Impact of Weather-Induced Sensor Occlusion on BEVFusion for 3D Object Detection

Sanjay Kumar, Tim Brophy, Eoin Martino Grua, Ganesh Sistu, Valentina Donzella, Ciaran Eising

机构 * Dept. of Electronic and Computer Engineering and the Data Driven Computer Engineering Research Centre, University of Limerick（电子与计算机工程系和数据驱动计算机工程研究中心，利默里克大学） ； Valeo Vision Systems（瓦莱欧视觉系统） ； Queen Mary University of London（伦敦女王大学） 纠错

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

Self-Supervised Moving Object Segmentation of Sparse and Noisy Radar Point Clouds

Leon Schwarzer, Matthias Zeller, Daniel Casado Herraez, Simon Dierl, Michael Heidingsfeld, Cyrill Stachniss

机构 * CARIAD SE（CARIAD公司） ； TU Dortmund University（杜伊斯堡-艾森大学） ； University of Bonn（波恩大学） ； Lamarr Institute for Machine Learning and Artificial Intelligence（拉马尔人工智能与机器学习研究所） 纠错

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

Comments Accepted for publication at IEEE International Conference on Intelligent Transportation Systems (ITSC 2025), 8 pages, 3 figures

3D Point Cloud Object Detection on Edge Devices for Split Computing

Taisuke Noguchi, Takuya Azumi

机构 * Graduate School of Science and Engineering（科学与工程研究生院） ； Engineering Saitama University（埼玉大学工学部） 纠错

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

Comments 6 pages. This version includes minor lstlisting configuration adjustments for successful compilation. No changes to content or layout. Originally published at ACM/IEEE RAGE 2024

Journal ref Proceedings of the 3rd Real-time And intelliGent Edge computing workshop (RAGE), 2024, pp. 1-6

AG-Fusion: adaptive gated multimodal fusion for 3d object detection in complex scenes

Sixian Liu, Chen Xu, Qiang Wang, Donghai Shi, Yiwen Li

机构 * Yaowu Technology Co., Ltd, Shenzhen, China（深圳优华科技有限公司，深圳，中国） 纠错

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

3D Roadway Scene Object Detection with LIDARs in Snowfall Conditions

Ghazal Farhani, Taufiq Rahman, Syed Mostaquim Ali, Andrew Liu, Mohamed Zaki, Dominique Charlebois, Benoit Anctil

机构 * National Research Council Canada（加拿大国家研究理事会） ； Western University（西部大学） ； Transport Canada（加拿大交通部） 纠错

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

Comments 2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), pp. 1441--1448, Sept. 2024

SFGFusion: Surface Fitting Guided 3D Object Detection with 4D Radar and Camera Fusion

Xiaozhi Li, Huijun Di, Jian Li, Feng Liu, Wei Liang

机构 * Radar Technology Research Institute, School of Information and Electronics, Beijing Institute of Technology（雷达技术研究院，信息电子学院，北京理工大学） ； School of Computer Science and Technology, Beijing Institute of Technology（计算机科学与技术学院，北京理工大学） ； Innovative Equipment Research Institute, Beijing Institute of Technology（创新装备研究院，北京理工大学） ； Key Laboratory of Electronic and Information Technology in Satellite Navigation (Beijing Institute of Technology), Ministry of Education（卫星导航电子信息技术重点实验室（北京理工大学），教育部） ； Beijing Racobit Electronic Information Technology Co., Ltd.（北京瑞科比特电子信息技术有限公司） 纠错

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

Comments Submitted to Pattern Recognition

BlendCLIP: Bridging Synthetic and Real Domains for Zero-Shot 3D Object Classification with Multimodal Pretraining

Ajinkya Khoche, Gergő László Nagy, Maciej Wozniak, Thomas Gustafsson, Patric Jensfelt

机构 * KTH Royal Institute of Technology（皇家理工学院） ； Scania CV AB（斯堪尼亚公司） 纠错

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

Comments Under Review

FreqPDE: Rethinking Positional Depth Embedding for Multi-View 3D Object Detection Transformers

Haisheng Su, Junjie Zhang, Feixiang Song, Sanping Zhou, Wei Wu, Nanning Zheng, Junchi Yan

机构 * Shanghai Jiao Tong University（上海交通大学） ； Xi’an Jiaotong University（西安交通大学） ； SenseAuto Research（SenseAuto研究院） 纠错

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

Comments Accepted to ICCV2025

RayFusion: Ray Fusion Enhanced Collaborative Visual Perception

Shaohong Wang, Bin Lu, Xinyu Xiao, Hanzhi Zhong, Bowen Pang, Tong Wang, Zhiyu Xiang, Hangguan Shan, Eryun Liu

机构 * Zhejiang University（浙江大学） ； Institute of Automation of 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(abstract)；occupancy(abstract)；分类 cs.CV

Comments Accepted by NeurIPS2025

PAN: Pillars-Attention-Based Network for 3D Object Detection

Ruan Bispo, Dane Mitrev, Letizia Mariotti, Clément Botty, Denver Humphrey, Anthony Scanlan, Ciarán Eising

机构 * Department of Electronic and Computer Engineering, Lero (the Research Ireland Centre for Software), and the Data Driven Computer Engineering (D 2 iCE) Research Centre at the University of Limerick（电子与计算机工程系，Lero（爱尔兰软件研究中心），以及利默里克大学数据驱动计算机工程（D 2 iCE）研究中心） ； Provizio, Future Mobility Campus Ireland, Shannon Free Zone（Provizio，Future Mobility Campus Ireland，Shannon Free Zone） 纠错

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

TACO-Net: Topological Signatures Triumph in 3D Object Classification

Anirban Ghosh, Ayan Dutta

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

SpaRC: Sparse Radar-Camera Fusion for 3D Object Detection

Philipp Wolters, Johannes Gilg, Torben Teepe, Fabian Herzog, Felix Fent, Gerhard Rigoll

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

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

Comments 18 pages, 11 figures

TinyBEV: Cross Modal Knowledge Distillation for Efficient Multi Task Bird's Eye View Perception and Planning

Reeshad Khan, John Gauch

专题命中 感知 ：BEV(abstract)；occupancy(abstract)；分类 cs.CV

RCTDistill: Cross-Modal Knowledge Distillation Framework for Radar-Camera 3D Object Detection with Temporal Fusion

Geonho Bang, Minjae Seong, Jisong Kim, Geunju Baek, Daye Oh, Junhyung Kim, Junho Koh, Jun Won Choi

机构 * Seoul National University（首尔国立大学） ； Hanyang University（翰阳大学） ； Hyundai Motor Company（现代汽车公司） 纠错

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

Comments Accepted at ICCV 2025

MAESTRO: Task-Relevant Optimization via Adaptive Feature Enhancement and Suppression for Multi-task 3D Perception

Changwon Kang, Jisong Kim, Hongjae Shin, Junseo Park, Jun Won Choi

机构 * Hanyang University（翰阳大学） ； Seoul National University（首尔国立大学） 纠错

专题命中 感知 ：BEV(abstract)；occupancy(abstract)；分类 cs.CV

Comments Accepted to ICCV 2025

FishBEV: Distortion-Resilient Bird's Eye View Segmentation with Surround-View Fisheye Cameras

Hang Li, Dianmo Sheng, Qiankun Dong, Zichun Wang, Zhiwei Xu, Tao Li

机构 * College of Computer Science, Nankai University（南开大学计算机科学学院） ； Key Laboratory of Data and Intelligent System Security, Ministry of Education, China（教育部数据与智能系统安全重点实验室） ； School of Cyber Security, University of Science and Technology of China（中国科学技术大学网络安全学院） ； Haihe Lab of ITAI, Institute of Computing Technology, Chinese Academy of Sciences（中国科学院计算技术研究所海河实验室） 纠错

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

Comments 8 pages, 4 figures

Scaling Up Forest Vision with Synthetic Data

Yihang She, Andrew Blake, David Coomes, Srinivasan Keshav

机构 * University of Cambridge（剑桥大学） 纠错

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

TriLiteNet: Lightweight Model for Multi-Task Visual Perception

Quang-Huy Che, Duc-Khai Lam

机构 * Laboratory of Multimedia Communications, University of Information Technology, Ho Chi Minh City, Vietnam（多媒体通信实验室，信息科技大学，胡志明市，越南） ； Faculty of Computer Engineering, University of Information Technology, Ho Chi Minh City, Vietnam（计算机工程学院，信息科技大学，胡志明市，越南） ； Vietnam National University, Ho Chi Minh City, Vietnam（越南国家大学，胡志明市，越南） 纠错

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

Journal ref IEEE Access 13 (2025) 50152-50166

Safe and Efficient Lane-Changing for Autonomous Vehicles: An Improved Double Quintic Polynomial Approach with Time-to-Collision Evaluation

Rui Bai, Rui Xu, Teng Rui, Jiale Liu, Qi Wei Oung, Hoi Leong Lee, Zhen Tian, Fujiang Yuan

专题命中 感知 ：autonomous driving(abstract)；trajectory planning(abstract)；分类 cs.RO

BEVCon: Advancing Bird's Eye View Perception with Contrastive Learning

Ziyang Leng, Jiawei Yang, Zhicheng Ren, Bolei Zhou

机构 * University of California, Los Angeles（加州大学洛杉矶分校） ； University of Southern California（南加州大学） ； Aurora Innovation（奥罗拉创新） 纠错

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

Journal ref IEEE Robotics and Automation Letters (Volume: 10, Issue: 4, April 2025)