自动驾驶

Towards Safe Autonomous Driving: Capture Uncertainty in the Deep Neural Network For Lidar 3D Vehicle Detection

Di Feng, Lars Rosenbaum, Klaus Dietmayer

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

Comments Accepted to present in the 21st IEEE International Conference on Intelligent Transportation Systems (ITSC 2018)

SQS: Enhancing Sparse Perception Models via Query-based Splatting in Autonomous Driving

Haiming Zhang, Yiyao Zhu, Wending Zhou, Xu Yan, Yingjie Cai, Bingbing Liu, Shuguang Cui, Zhen Li

机构 * FNii ； SSE, CUHK-Shenzhen（SSE，CUHK-Shenzhen） ； HKUST ； Huawei Noah’s Ark Lab（华为诺亚实验室） 纠错

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

Comments NeurIPS 2025 (Spotlight)

UADA3D: Unsupervised Adversarial Domain Adaptation for 3D Object Detection with Sparse LiDAR and Large Domain Gaps

Maciej K Wozniak, Mattias Hansson, Marko Thiel, Patric Jensfelt

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

Comments Accepted for IEEE RA-L 2024

MVFuseNet: Improving End-to-End Object Detection and Motion Forecasting through Multi-View Fusion of LiDAR Data

Ankit Laddha, Shivam Gautam, Stefan Palombo, Shreyash Pandey, Carlos Vallespi-Gonzalez

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

Comments Published at CVPR 2021 Workshop on Autonomous Driving

MambaBEV: An EV-based 3D detection model with Mamba2

MambaBEV：基于Mamba2的BEV三维检测模型

Zihan You, Ni Wang, Hao Wang, Qichao Zhao, Jinxiang Wang

机构 * School of Instrument Science and Engineering, Southeast University, China（仪器科学与工程学院，东南大学，中国） ； Amazon Development Center Germany GmbH, Germany（亚马逊德国开发中心，德国） ； T3CAIC Technology, China（T3CAIC技术，中国） ； School of Mechanical Engineering, Southeast University, China（机械工程学院，东南大学，中国） 纠错

专题命中 感知 ：BEV(title_cn,abstract)；autonomous driving(abstract)；driving perception(abstract)；分类 cs.CV

AI总结 提出MambaBEV模型，利用Mamba2状态空间模型通过TemporalMamba时序融合模块和Mamba-based DETR头增强全局上下文建模，提升自动驾驶中大型物体的3D检测精度。

Comments ICPR2026

Generative Texture Diversification of 3D Pedestrians for Robust Autonomous Driving Perception

生成3D行人纹理多样化以实现自动驾驶感知的鲁棒性

Arka Bhowmick, Enes Ozeren, Ahmed Abdullah, Oliver Wasenmuller

机构 * BIT Technology Solutions GmbH（比特技术解决方案 GmbH） ； Mannheim University of Applied Sciences（曼海姆应用科学大学） 纠错

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

AI总结 本文提出一种简单有效的方法，通过StyleGAN2生成多样化的3D行人资产，用于合成场景生成，提升自动驾驶感知的鲁棒性。

Comments Published at SAIAD 2026 Workshop at CVPR 2026

AD-SAM: Fine-Tuning the Segment Anything Vision Foundation Model for Autonomous Driving Perception

Mario Camarena, Het Patel, Fatemeh Nazari, Evangelos Papalexakis, Mohamadhossein Noruzoliaee, Jia Chen

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

Comments Submitted to IEEE Transactions on Intelligent Transportation Systems (IEEE T-ITS)

Adverse Weather-Independent Framework Towards Autonomous Driving Perception through Temporal Correlation and Unfolded Regularization

Wei-Bin Kou, Guangxu Zhu, Rongguang Ye, Jingreng Lei, Shuai Wang, Qingfeng Lin, Ming Tang, Yik-Chung Wu

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

Comments 10 pages. arXiv admin note: substantial text overlap with arXiv:2409.14737

Spotting the Unexpected (STU): A 3D LiDAR Dataset for Anomaly Segmentation in Autonomous Driving

Alexey Nekrasov, Malcolm Burdorf, Stewart Worrall, Bastian Leibe, Julie Stephany Berrio Perez

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

Comments Accepted for publication at CVPR 2025. Project page: https://www.vision.rwth-aachen.de/stu-dataset

DynRsl-VLM: Enhancing Autonomous Driving Perception with Dynamic Resolution Vision-Language Models

Xirui Zhou, Lianlei Shan, Xiaolin Gui

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

Performance Implications of Multi-Chiplet Neural Processing Units on Autonomous Driving Perception

Mohanad Odema, Luke Chen, Hyoukjun Kwon, Mohammad Abdullah Al Faruque

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

Comments DATE'2025

Eliminating Cross-modal Conflicts in BEV Space for LiDAR-Camera 3D Object Detection

Jiahui Fu, Chen Gao, Zitian Wang, Lirong Yang, Xiaofei Wang, Beipeng Mu, Si Liu

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

Comments Accepted by ICRA 2024

ALSO: Automotive Lidar Self-supervision by Occupancy estimation

Alexandre Boulch, Corentin Sautier, Björn Michele, Gilles Puy, Renaud Marlet

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

Comments CVPR 2023

DG-Labeler and DGL-MOTS Dataset: Boost the Autonomous Driving Perception

Yiming Cui, Zhiwen Cao, Yixin Xie, Xingyu Jiang, Feng Tao, Yingjie Chen, Lin Li, Dongfang Liu

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

Lidar for Autonomous Driving: The principles, challenges, and trends for automotive lidar and perception systems

You Li, Javier Ibanez-Guzman

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

Comments Will appear in IEEE Signal Processing Magazine

Deep SCNN-based Real-time Object Detection for Self-driving Vehicles Using LiDAR Temporal Data

Shibo Zhou, Ying Chen, Xiaohua Li, Arindam Sanyal

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

Journal ref IEEE Access, 2020

Adversarial Sensor Attack on LiDAR-based Perception in Autonomous Driving

Yulong Cao, Chaowei Xiao, Benjamin Cyr, Yimeng Zhou, Won Park, Sara Rampazzi, Qi Alfred Chen, Kevin Fu, Z. Morley Mao

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

Comments Accepted at the ACM Conference on Computer and Communications Security (CCS), 2019

A Reliable Context-Aware and Temporal Planning Framework for Autonomous Driving

一种用于自动驾驶的可靠上下文感知和时间规划框架

Argho Dey, Yunfei Yin, Swachha Ray, Md Minhazul Islam, Zheng Yuan, Sijing Xiong, Hongyu Liu, Zhiqiu Huang

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

AI总结 研究自动驾驶中车载传感退化时的可靠感知与规划问题，提出RCT-AD框架，通过显式建模特征质量和时间一致性，经可靠上下文感知模块和时间轨迹规划器等提升感知、预测及规划能力。

Comments Submitted to IEEE Transactions on Intelligent Transportation Systems. 12 pages, 6 figures

Geometry-Aware Fisheye-LiDAR Fusion for Robust 3D Object Detection in Low-Overlap Setups

几何感知鱼眼-激光雷达融合用于低重叠设置下的鲁棒3D目标检测

Xiangzhong Liu, Xihao Wang, Hao Shen

机构 * Technical University of Munich（慕尼黑工业大学） 纠错

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

AI总结 针对稀疏视角下鱼眼相机与激光雷达的几何畸变和低重叠问题，提出几何感知混合融合框架，通过畸变感知LSS模块和双注意力校正模块实现极坐标与笛卡尔特征融合，在三个基准上提升检测精度。

Comments 8 pages, 4 figures, submitted to RA-L

Towards Camera Open-set 3D Object Detection for Autonomous Driving Scenarios

面向自动驾驶场景的相机开放集3D目标检测

Zhuolin He, Xinrun Li, Jiacheng Tang, Shoumeng Qiu, Wenfu Wang, Xiangyang Xue, Jian Pu

机构 * ZILab 纠错

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

AI总结 OS-Det3D通过两阶段框架提升自动驾驶中相机3D目标检测器对未知对象的发现与识别能力，同时提升已知对象的检测性能。

Image-Guided Semantic Pseudo-LiDAR Point Generation for 3D Object Detection

基于图像的语义伪LiDAR点生成用于3D目标检测

Minseung Lee, Seokha Moon, Seung Joon Lee, Reza Mahjourian, Jinkyu Kim

机构 * CSE, Korea University（韩国大学计算机科学与工程系） ； LG Innotek ； Waymo Research（Waymo研究院） 纠错

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

AI总结 ImagePG通过利用图像特征生成密集且语义丰富的3D点，提升自动驾驶中对小目标和远距离目标的检测性能。

Comments WACV 2026

Multi-Modal Data-Efficient 3D Scene Understanding for Autonomous Driving

多模态数据高效3D场景理解用于自动驾驶

Lingdong Kong, Xiang Xu, Jiawei Ren, Wenwei Zhang, Liang Pan, Kai Chen, Wei Tsang Ooi, Ziwei Liu

机构 * WorldBench Team Project Lead（WorldBench团队项目负责人） 纠错

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

AI总结 LaserMix++通过多模态方法提升自动驾驶中LiDAR数据高效3D场景理解，以更少标注实现更高精度。

Comments IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI)

Self-Supervised Representation Learning with Joint Embedding Predictive Architecture for Automotive LiDAR Object Detection

Haoran Zhu, Zhenyuan Dong, Kristi Topollai, Beiyao Sha, Anna Choromanska

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

Temporal Overlapping Prediction: A Self-supervised Pre-training Method for LiDAR Moving Object Segmentation

Ziliang Miao, Runjian Chen, Yixi Cai, Buwei He, Wenquan Zhao, Wenqi Shao, Bo Zhang, Fu Zhang

机构 * The University of Hong Kong（香港大学） ； KTH Royal Institute of Technology（皇家理工学院） ； Southern University of Science and Technology（南方科技大学） ； Shanghai AI Laboratory（上海人工智能实验室） 纠错

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

Towards Flexible 3D Perception: Object-Centric Occupancy Completion Augments 3D Object Detection

Chaoda Zheng, Feng Wang, Naiyan Wang, Shuguang Cui, Zhen Li

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

Comments NeurIPS 2024

SimpleBEV: Improved LiDAR-Camera Fusion Architecture for 3D Object Detection

Yun Zhao, Zhan Gong, Peiru Zheng, Hong Zhu, Shaohua Wu

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

Multi-modal NeRF Self-Supervision for LiDAR Semantic Segmentation

Xavier Timoneda, Markus Herb, Fabian Duerr, Daniel Goehring, Fisher Yu

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

Comments IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024

Is Your LiDAR Placement Optimized for 3D Scene Understanding?

Ye Li, Lingdong Kong, Hanjiang Hu, Xiaohao Xu, Xiaonan Huang

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

Comments NeurIPS 2024 (Spotlight); 36 pages, 16 figures, 14 tables; Code at https://github.com/ywyeli/Place3D

DOLPHINS: Dataset for Collaborative Perception enabled Harmonious and Interconnected Self-driving

Ruiqing Mao, Jingyu Guo, Yukuan Jia, Yuxuan Sun, Sheng Zhou, Zhisheng Niu

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

Uncertainty-Encoded Multi-Modal Fusion for Robust Object Detection in Autonomous Driving

Yang Lou, Qun Song, Qian Xu, Rui Tan, Jianping Wang

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

Comments In proceedings of the 26th European Conference on Artificial Intelligence ECAI 2023. 8 pages + 2 appendix pages