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Ground4D: Spatially-Grounded Feedforward 4D Reconstruction for Unstructured Off-Road Scenes
Shuo Wang, Jilin Mei, Fuyang Liu +6
Feedforward Gaussian Splatting has recently emerged as an efficient paradigm for 4D reconstruction in autonomous driving. However, in unstructured off-road scenes, its performance…
Towards All-Day Perception for Off-Road Driving: A Large-Scale Multispectral Dataset and Comprehensive Benchmark
Shuo Wang, Jilin Mei, Wenfei Guan +4
Off-road nighttime autonomous driving suffers from unreliable visible-light perception, making infrared modality crucial for accurate freespace detection. However, progress remains…
SSI-DM: Singularity Skipping Inversion of Diffusion Models
Chen Min, Enze Jiang, Jishen Peng +1
Inverting real images into the noise space is essential for editing tasks using diffusion models, yet existing methods produce non-Gaussian noise with poor editability due to the i…
OT-Drive: Out-of-Distribution Off-Road Traversable Area Segmentation via Optimal Transport
Zhihua Zhao, Guoqiang Li, Chen Min +1
Reliable traversable area segmentation in unstructured environments is critical for planning and decision-making in autonomous driving. However, existing data-driven approaches oft…
Beyond Endpoints: Path-Centric Reasoning for Vectorized Off-Road Network Extraction
Wenfei Guan, Jilin Mei, Tong Shen +4
Deep learning has advanced vectorized road extraction in urban settings, yet off-road environments remain underexplored and challenging. A significant domain gap causes advanced mo…
UNIV: Unified Foundation Model for Infrared and Visible Modalities
Fangyuan Mao, Shuo Wang, Jilin Mei +6
Joint RGB-infrared perception is essential for achieving robustness under diverse weather and illumination conditions. Although foundation models excel within single modalities, th…
CORENet: Cross-Modal 4D Radar Denoising Network with LiDAR Supervision for Autonomous Driving
Fuyang Liu, Jilin Mei, Fangyuan Mao +3
4D radar-based object detection has garnered great attention for its robustness in adverse weather conditions and capacity to deliver rich spatial information across diverse drivin…
WildOcc: A Benchmark for Off-Road 3D Semantic Occupancy Prediction
Heng Zhai, Jilin Mei, Chen Min +3
3D semantic occupancy prediction is an essential part of autonomous driving, focusing on capturing the geometric details of scenes. Off-road environments are rich in geometric info…
Adaptive Learning for Multi-view Stereo Reconstruction
Qinglu Min, Jie Zhao, Zhihao Zhang +1
Deep learning has recently demonstrated its excellent performance on the task of multi-view stereo (MVS). However, loss functions applied for deep MVS are rarely studied. In this p…