7 papers
Velocity Field: An Informative Traveling Cost Representation for Trajectory Planning
Ren Xin, Jie Cheng, Sheng Wang +1
Trajectory planning involves generating a series of space points to be followed in the near future. However, due to the complex and uncertain nature of the driving environment, it…
RiskMap: A Unified Driving Context Representation for Autonomous Motion Planning in Urban Driving Environment
Ren Xin, Sheng Wang, Yingbing Chen +3
Motion planning is a complicated task that requires the combination of perception, map information integration and prediction, particularly when driving in heavy traffic. Developin…
DHP-Mapping: A Dense Panoptic Mapping System with Hierarchical World Representation and Label Optimization Techniques
Tianshuai Hu, Jianhao Jiao, Yucheng Xu +3
Maps provide robots with crucial environmental knowledge, thereby enabling them to perform interactive tasks effectively. Easily accessing accurate abstract-to-detailed geometric a…
Efficient Global Navigational Planning in 3D Structures based on Point Cloud Tomography
Bowen Yang, Jie Cheng, Bohuan Xue +2
Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and ex…
Enhancing Campus Mobility: Achievements and Challenges of Autonomous Shuttle "Snow Lion''
Yingbing Chen, Jie Cheng, Sheng Wang +15
The rapid evolution of autonomous vehicles (AVs) has significantly influenced global transportation systems. In this context, we present ``Snow Lion'', an autonomous shuttle meticu…
GDTS: Goal-Guided Diffusion Model with Tree Sampling for Multi-Modal Pedestrian Trajectory Prediction
Ge Sun, Sheng Wang, Lei Zhu +2
Accurate prediction of pedestrian trajectories is crucial for improving the safety of autonomous driving. However, this task is generally nontrivial due to the inherent stochastici…