自动驾驶

Timely Fusion of Surround Radar/Lidar for Object Detection in Autonomous Driving Systems

Wenjing Xie, Tao Hu, Neiwen Ling, Guoliang Xing, Chun Jason Xue, Nan Guan

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(title,abstract)；分类 cs.CV、cs.AI

Multi-Object Tracking with Camera-LiDAR Fusion for Autonomous Driving

Riccardo Pieroni, Simone Specchia, Matteo Corno, Sergio Matteo Savaresi

专题命中 感知 ：LiDAR(title,abstract)；autonomous driving(title)；self-driving(abstract)；分类 cs.RO、cs.CV

Comments Published at IEEE European Control Conference 2024

RaLiBEV: Radar and LiDAR BEV Fusion Learning for Anchor Box Free Object Detection Systems

Yanlong Yang, Jianan Liu, Tao Huang, Qing-Long Han, Gang Ma, Bing Zhu

专题命中 感知 ：LiDAR(title,abstract)；BEV(title)；autonomous driving(abstract)；分类 cs.CV、cs.AI

Comments 14 pages, 6 figures

Few-shot 3D LiDAR Semantic Segmentation for Autonomous Driving

Jilin Mei, Junbao Zhou, Yu Hu

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(title,abstract)；分类 cs.RO、cs.CV

Comments Accepted by ICRA 2023

LWSIS: LiDAR-guided Weakly Supervised Instance Segmentation for Autonomous Driving

Xiang Li, Junbo Yin, Botian Shi, Yikang Li, Ruigang Yang, Jianbing Shen

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(title,abstract)；分类 cs.CV、cs.AI

Comments AAAI2023

BEV-MODNet: Monocular Camera based Bird's Eye View Moving Object Detection for Autonomous Driving

Hazem Rashed, Mariam Essam, Maha Mohamed, Ahmad El Sallab, Senthil Yogamani

专题命中 感知 ：autonomous driving(title,abstract)；BEV(title,abstract)；分类 cs.RO、cs.CV

Comments Accepted for Oral Presentation at IEEE Intelligent Transportation Systems Conference (ITSC) 2021

Li-ViP3D++: Query-Gated Deformable Camera-LiDAR Fusion for End-to-End Perception and Trajectory Prediction

Li-ViP3D++：基于查询的可变形相机-激光雷达融合用于端到端感知与轨迹预测

Matej Halinkovic, Nina Masarykova, Alexey Vinel, Marek Galinski

机构 * Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院） ； Slovak University of Technology（斯洛伐克技术大学） ； Halmstad University（哈马比大学） 纠错

专题命中 感知 ：LiDAR(title,abstract)；BEV(abstract,abstract_cn)；autonomous driving(abstract)；分类 cs.RO、cs.CV、cs.AI

AI总结 Li-ViP3D++通过引入查询门控可变形融合技术，实现了端到端感知与轨迹预测，提升了自动驾驶系统的鲁棒性和效率。

Comments Published in IEEE Access. The version of record is available at DOI: 10.1109/ACCESS.2026.3709080

Journal ref IEEE Access, vol. 14, pp. 102999-103012, 2026

STELLAR: Scaling 3D Perception Large Models for Autonomous Driving

STELLAR: 为自动驾驶扩展3D感知大模型

Yingwei Li, Xin Huang, Yang Liu, Yang Fu, Alex Zihao Zhu, Chen Song, Junwen Yao, Anant Subramanian, Hao Xiang, Weijing Shi, Yuliang Zou, Tom Hoddes, Zhaoqi Leng, Govind Thattai, Dragomir Anguelov, Mingxing Tan

机构 * Waymo ； UCSD（加州大学圣地亚哥分校） 纠错

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(abstract,abstract_cn)；driving perception(abstract)；分类 cs.RO、cs.CV、cs.AI

AI总结 本文研究了大规模训练在自动驾驶感知系统中的应用，通过扩展输入模态并训练大规模模型，实现了在Waymo数据集上的新状态-of-the-art性能。

Learning Shared RGB-D Fields: Unified Self-supervised Pre-training for Label-efficient LiDAR-Camera 3D Perception

Xiaohao Xu, Ye Li, Tianyi Zhang, Jinrong Yang, Matthew Johnson-Roberson, Xiaonan Huang

专题命中 感知 ：LiDAR(title,abstract)；autonomous driving(abstract)；BEV(abstract)；driving perception(abstract)

Comments 8 pages

Stabilizing Information Flow Entropy: Regularization for Safe and Interpretable Autonomous Driving Perception

Haobo Yang, Shiyan Zhang, Zhuoyi Yang, Jilong Guo, Jun Yang, Xinyu Zhang

机构 * The State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University（汽车安全与能源国家重点实验室，车辆与移动系统学院，清华大学） 纠错

专题命中 感知 ：autonomous driving(title,abstract)；driving perception(title,abstract)；分类 cs.AI

Hi-ALPS -- An Experimental Robustness Quantification of Six LiDAR-based Object Detection Systems for Autonomous Driving

Alexandra Arzberger, Ramin Tavakoli Kolagari

机构 * Faculty of Computer Science Nuremberg Institute of Technology（纽伦堡工业大学计算机科学学院） 纠错

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(title,abstract)；分类 cs.CV

COLA: COarse-LAbel multi-source LiDAR semantic segmentation for autonomous driving

Jules Sanchez, Jean-Emmanuel Deschaud, François Goulette

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(title,abstract)；分类 cs.CV

3DLabelProp: Geometric-Driven Domain Generalization for LiDAR Semantic Segmentation in Autonomous Driving

Jules Sanchez, Jean-Emmanuel Deschaud, François Goulette

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(title,abstract)；分类 cs.CV

Unsupervised 4D LiDAR Moving Object Segmentation in Stationary Settings with Multivariate Occupancy Time Series

Thomas Kreutz, Max Mühlhäuser, Alejandro Sanchez Guinea

专题命中 感知 ：LiDAR(title,abstract)；occupancy(title,abstract)；分类 cs.CV

Comments Preprint, Paper has been accepted at WACV2023

Joint Multi-Object Detection and Tracking with Camera-LiDAR Fusion for Autonomous Driving

Kemiao Huang, Qi Hao

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(title,abstract)；分类 cs.CV

Comments accepted by IROS 2021

Temporal-Channel Transformer for 3D Lidar-Based Video Object Detection in Autonomous Driving

Zhenxun Yuan, Xiao Song, Lei Bai, Wengang Zhou, Zhe Wang, Wanli Ouyang

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(title,abstract)；分类 cs.CV

Pseudo-LiDAR from Visual Depth Estimation: Bridging the Gap in 3D Object Detection for Autonomous Driving

Yan Wang, Wei-Lun Chao, Divyansh Garg, Bharath Hariharan, Mark Campbell, Kilian Q. Weinberger

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(title,abstract)；分类 cs.CV

Comments Accepted by CVPR 2019

Pseudo-LiDAR++: Accurate Depth for 3D Object Detection in Autonomous Driving

Yurong You, Yan Wang, Wei-Lun Chao, Divyansh Garg, Geoff Pleiss, Bharath Hariharan, Mark Campbell, Kilian Q. Weinberger

专题命中 感知 ：autonomous driving(title,abstract)；LiDAR(title,abstract)；分类 cs.CV

Comments Accepted to International Conference on Learning Representations (ICLR) 2020

FuseMODNet: Real-Time Camera and LiDAR based Moving Object Detection for robust low-light Autonomous Driving

Hazem Rashed, Mohamed Ramzy, Victor Vaquero, Ahmad El Sallab, Ganesh Sistu, Senthil Yogamani

专题命中 感知 ：LiDAR(title,abstract)；autonomous driving(title,comments)；分类 cs.RO、cs.CV、eess.IV

Comments Accepted for Oral presentation at ICCV 2019 Workshop on Autonomous Driving. https://sites.google.com/view/fusemodnet

PandaSet: Advanced Sensor Suite Dataset for Autonomous Driving

Pengchuan Xiao, Zhenlei Shao, Steven Hao, Zishuo Zhang, Xiaolin Chai, Judy Jiao, Zesong Li, Jian Wu, Kai Sun, Kun Jiang, Yunlong Wang, Diange Yang

专题命中 感知 ：autonomous driving(title,abstract)；self-driving(abstract)；LiDAR(abstract)；driving perception(abstract)

Comments This paper has been published on ITSC'2021, please check the website of the PandaSet for more information: https://pandaset.org/

Explainability-Aware Frustum Attack: Exposing Structural Vulnerabilities in LiDAR-Based 3D Object Detectors

可解释性感知的视锥攻击：揭示基于LiDAR的3D目标检测器中的结构脆弱性

Chengzeng You, Binbin Xu, Soteris Demetriou

机构 * Imperial College London（帝国理工学院伦敦分校） 纠错

专题命中 感知 ：LiDAR(title,title_cn)；分类 cs.CV

AI总结 提出可解释性引导的对抗分析方法，通过SALL方法生成通用显著性图，并设计EFA攻击，仅扰动最关键的视锥区域，在KITTI和nuScenes上使检测召回率下降超15个百分点，同时减少25-50%的扰动视锥数。

Comments European Conference on Computer Vision (ECCV), September 2026

Integrating Object Detection, LiDAR-Enhanced Depth Estimation, and Segmentation Models for Railway Environments

集成目标检测、LiDAR增强的深度估计和分割模型用于铁路环境

Enrico Francesco Giannico, Federico Nesti, Gianluca D'Amico, Mauro Marinoni, Edoardo Carosio, Filippo Salotti, Salvatore Sabina, Giorgio Buttazzo

机构 * 1 Department of Excellence in Robotics \& AI, Scuola Superiore Sant'Anna, Pisa, Italy 2 Progress Rail Signaling S.p.A., Serravalle Pistoiese (PT), Italy 纠错

专题命中 感知 ：LiDAR(title,title_cn)；分类 cs.CV

AI总结 本文提出一个模块化框架，结合目标检测、轨道分割和单目深度估计，用于铁路环境中的障碍物检测与距离估计，通过合成数据集评估，实现0.63米的高精度距离估计。

Comments Under submission for publication

UniLION: Towards Unified Autonomous Driving Model with Linear Group RNNs

Zhe Liu, Jinghua Hou, Xiaoqing Ye, Jingdong Wang, Hengshuang Zhao, Xiang Bai

机构 * School of Electronic Information and Communications, Huazhong University of Science and Technology (HUST), Wuhan, China（华中科技大学电子信息与通信学院） ； School of Software Engineering, Huazhong University of Science and Technology (HUST), Wuhan, China（华中科技大学软件工程学院） ； Department of Computer Science, The University of Hong Kong, Hong Kong (HKU) SAR, China（香港大学计算机系） ； Baidu Inc., Beijing, China（百度公司） 纠错

专题命中 感知 ：autonomous driving(title,abstract)；BEV(abstract)；LiDAR(abstract)；occupancy(abstract)

LXL: LiDAR Excluded Lean 3D Object Detection with 4D Imaging Radar and Camera Fusion

Weiyi Xiong, Jianan Liu, Tao Huang, Qing-Long Han, Yuxuan Xia, Bing Zhu

专题命中 感知 ：LiDAR(title,abstract)；autonomous driving(abstract)；BEV(abstract)；occupancy(abstract)

Comments Accepted by IEEE Transactions on Intelligent Vehicles

BSH-Det3D: Improving 3D Object Detection with BEV Shape Heatmap

You Shen, Yunzhou Zhang, Yanmin Wu, Zhenyu Wang, Linghao Yang, Sonya Coleman, Dermot Kerr

专题命中 感知 ：BEV(title,abstract)；autonomous driving(abstract)；LiDAR(abstract)；occupancy(abstract)

K-Lane: Lidar Lane Dataset and Benchmark for Urban Roads and Highways

Donghee Paek, Seung-Hyun Kong, Kevin Tirta Wijaya

专题命中 感知 ：LiDAR(title,abstract)；autonomous driving(abstract,journal_ref)；BEV(abstract)；分类 cs.RO、cs.CV、cs.AI

Comments 20 pages, 20 figures, 11 tables

Journal ref 2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshop on Autonomous Driving (WAD)

Reducing the False Positive Rate Using Bayesian Inference in Autonomous Driving Perception

Gledson Melotti, Johann J. S. Bastos, Bruno L. S. da Silva, Tiago Zanotelli, Cristiano Premebida

专题命中 感知 ：autonomous driving(title)；driving perception(title)；LiDAR(abstract)；分类 cs.CV、cs.AI

Comments This paper has been submitted to the journal Pattern Recognition Letters

SpikiLi: A Spiking Simulation of LiDAR based Real-time Object Detection for Autonomous Driving

Sambit Mohapatra, Thomas Mesquida, Mona Hodaei, Senthil Yogamani, Heinrich Gotzig, Patrick Mader

专题命中 感知 ：LiDAR(title,abstract)；autonomous driving(title)；分类 cs.RO、cs.CV

Comments Accepted at Workshop on Event Sensing and Neuromorphic Engineering - 8th International Conference on Event-based Control, Communication, and Signal Processing

Reducing Overconfidence Predictions for Autonomous Driving Perception

Gledson Melotti, Cristiano Premebida, Jordan J. Bird, Diego R. Faria, Nuno Gonçalves

专题命中 感知 ：autonomous driving(title,abstract)；driving perception(title)；分类 cs.CV、cs.AI

Comments This work has been accepted for publication in IEEE Access

MLOD: Awareness of Extrinsic Perturbation in Multi-LiDAR 3D Object Detection for Autonomous Driving

Jianhao Jiao, Peng Yun, Lei Tai, Ming Liu

专题命中 感知 ：LiDAR(title,abstract)；autonomous driving(title)；分类 cs.RO、cs.CV

Comments 8 pages, 6 figures

Journal ref IROS 2020