6 papers · 1 filter
UniGS: Unified Geometry-Aware Gaussian Splatting for Multimodal Rendering
Yusen Xie, Zhenmin Huang, Jianhao Jiao +2
In this paper, we propose UniGS, a unified map representation and differentiable framework for high-fidelity multimodal 3D reconstruction based on 3D Gaussian Splatting. Our framew…
Fast and Scalable Game-Theoretic Trajectory Planning with Intentional Uncertainties
Zhenmin Huang, Yusen Xie, Benshan Ma +2
Trajectory planning involving multi-agent interactions has been a long-standing challenge in the field of robotics, primarily burdened by the inherent yet intricate interactions am…
Fair Play in the Fast Lane: Integrating Sportsmanship into Autonomous Racing Systems
Zhenmin Huang, Ce Hao, Wei Zhan +2
Autonomous racing has gained significant attention as a platform for high-speed decision-making and motion control. While existing methods primarily focus on trajectory planning an…
Semi-SMD: Semi-Supervised Metric Depth Estimation via Surrounding Cameras for Autonomous Driving
Yusen Xie, Zhengmin Huang, Shaojie Shen +1
In this paper, we introduce Semi-SMD, a novel metric depth estimation framework tailored for surrounding cameras equipment in autonomous driving. In this work, the input data consi…
CoDriveVLM: VLM-Enhanced Urban Cooperative Dispatching and Motion Planning for Future Autonomous Mobility on Demand Systems
Haichao Liu, Ruoyu Yao, Wenru Liu +3
The increasing demand for flexible and efficient urban transportation solutions has spotlighted the limitations of traditional Demand Responsive Transport (DRT) systems, particular…
UDMC: Unified Decision-Making and Control Framework for Urban Autonomous Driving with Motion Prediction of Traffic Participants
Haichao Liu, Kai Chen, Yulin Li +3
Current autonomous driving systems often struggle to balance decision-making and motion control while ensuring safety and traffic rule compliance, especially in complex urban envir…