6 papers
SafeDrive: Fine-Grained Safety Reasoning for End-to-End Driving in a Sparse World
Jungho Kim, Jiyong Oh, Seunghoon Yu +3
The end-to-end (E2E) paradigm, which maps sensor inputs directly to driving decisions, has recently attracted significant attention due to its unified modeling capability and scala…
CarPLAN: Context-Adaptive and Robust Planning with Dynamic Scene Awareness for Autonomous Driving
Junyong Yun, Jungho Kim, ByungHyun Lee +5
Imitation learning (IL) is widely used for motion planning in autonomous driving due to its data efficiency and access to real-world driving data. For safe and robust real-world dr…
STONE Dataset: A Scalable Multi-Modal Surround-View 3D Traversability Dataset for Off-Road Robot Navigation
Konyul Park, Daehun Kim, Jiyong Oh +7
Reliable off-road navigation requires accurate estimation of traversable regions and robust perception under diverse terrain and sensing conditions. However, existing datasets lack…
OnlineBEV: Recurrent Temporal Fusion in Bird's Eye View Representations for Multi-Camera 3D Perception
Junho Koh, Youngwoo Lee, Jungho Kim +2
Multi-view camera-based 3D perception can be conducted using bird's eye view (BEV) features obtained through perspective view-to-BEV transformations. Several studies have shown tha…
ProtoOcc: Accurate, Efficient 3D Occupancy Prediction Using Dual Branch Encoder-Prototype Query Decoder
Jungho Kim, Changwon Kang, Dongyoung Lee +2
In this paper, we introduce ProtoOcc, a novel 3D occupancy prediction model designed to predict the occupancy states and semantic classes of 3D voxels through a deep semantic under…
Mask2Map: Vectorized HD Map Construction Using Bird's Eye View Segmentation Masks
Sehwan Choi, Jungho Kim, Hongjae Shin +1
In this paper, we introduce Mask2Map, a novel end-to-end online HD map construction method designed for autonomous driving applications. Our approach focuses on predicting the clas…