6 papers · 1 filter
Unified Map Prior Encoder for Mapping and Planning
Zongzheng Zhang, Sizhe Zou, Guantian Zheng +12
Online mapping and end-to-end (E2E) planning in autonomous driving remain largely sensor-centric, leaving rich map priors, including HD/SD vector maps, rasterized SD maps, and sate…
GraphiContact: Pose-aware Human-Scene Robust Contact Perception for Interactive Systems
Xiaojian Lin, Yaomin Shen, Junyuan Ma +7
Monocular vertex-level human-scene contact prediction is a fundamental capability for interactive systems such as assistive monitoring, embodied AI, and rehabilitation analysis. In…
Butter: Frequency Consistency and Hierarchical Fusion for Autonomous Driving Object Detection
Xiaojian Lin, Wenxin Zhang, Yuchu Jiang +7
Hierarchical feature representations play a pivotal role in computer vision, particularly in object detection for autonomous driving. Multi-level semantic understanding is crucial…
Delving into Mapping Uncertainty for Mapless Trajectory Prediction
Zongzheng Zhang, Xuchong Qiu, Boran Zhang +11
Recent advances in autonomous driving are moving towards mapless approaches, where High-Definition (HD) maps are generated online directly from sensor data, reducing the need for e…
Reusing Attention for One-stage Lane Topology Understanding
Yang Li, Zongzheng Zhang, Xuchong Qiu +10
Understanding lane toplogy relationships accurately is critical for safe autonomous driving. However, existing two-stage methods suffer from inefficiencies due to error propagation…
Chameleon: Fast-slow Neuro-symbolic Lane Topology Extraction
Zongzheng Zhang, Xinrun Li, Sizhe Zou +8
Lane topology extraction involves detecting lanes and traffic elements and determining their relationships, a key perception task for mapless autonomous driving. This task requires…