Publications (9)
Eliminating Cross-modal Conflicts in BEV Space for LiDAR-Camera 3D Object Detection
Jiahui Fu, Chen Gao, Zitian Wang +4
Recent 3D object detectors typically utilize multi-sensor data and unify multi-modal features in the shared bird's-eye view (BEV) representation space. However, our empirical findi…
Unified Modeling of Lane and Lane Topology for Driving Scene Reasoning
Han Li, Yulu Gao, Si Liu +3
Autonomous vehicles need to perceive not only physical elements in the driving scene, such as lane lines and traffic lights, but also logical elements like lane centerlines and the…
Resource-Constrained Adaptive Search for Sparse Multi-Class Targets with Varying Importance
Gregory E. Newstadt, Beipeng Mu, Dennis Wei +2
In sparse target inference problems it has been shown that significant gains can be achieved by adaptive sensing using convex criteria. We generalize previous work on adaptive sens…
GLRD: Global-Local Collaborative Reason and Debate with PSL for 3D Open-Vocabulary Detection
Xingyu Peng, Si Liu, Chen Gao +4
The task of LiDAR-based 3D Open-Vocabulary Detection (3D OVD) requires the detector to learn to detect novel objects from point clouds without off-the-shelf training labels. Previo…
Open-sourced Data Ecosystem in Autonomous Driving: the Present and Future
Hongyang Li, Yang Li, Huijie Wang +16
With the continuous maturation and application of autonomous driving technology, a systematic examination of open-source autonomous driving datasets becomes instrumental in fosteri…
SLAM with Objects using a Nonparametric Pose Graph
Beipeng Mu, Shih-Yuan Liu, Liam Paull +2
Mapping and self-localization in unknown environments are fundamental capabilities in many robotic applications. These tasks typically involve the identification of objects as uniq…
Information-based Active SLAM via Topological Feature Graphs
Beipeng Mu, Matthew Giamou, Liam Paull +3
Active SLAM is the task of actively planning robot paths while simultaneously building a map and localizing within. Existing work has focused on planning paths with occupancy grid…
RATopo: Improving Lane Topology Reasoning via Redundancy Assignment
Han Li, Shaofei Huang, Longfei Xu +3
Lane topology reasoning plays a critical role in autonomous driving by modeling the connections among lanes and the topological relationships between lanes and traffic elements. Mo…
Global-Local Collaborative Inference with LLM for Lidar-Based Open-Vocabulary Detection
Xingyu Peng, Yan Bai, Chen Gao +5
Open-Vocabulary Detection (OVD) is the task of detecting all interesting objects in a given scene without predefined object classes. Extensive work has been done to deal with the O…