自动驾驶

Exploring Single Domain Generalization of LiDAR-based Semantic Segmentation under Imperfect Labels

探索基于LiDAR的语义分割在不完美标签下的单域泛化

Weitong Kong, Zichao Zeng, Di Wen, Jiale Wei, Kunyu Peng, June Moh Goo, Jan Boehm, Rainer Stiefelhagen

机构 * Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology（自动化与机器人研究所，卡尔斯鲁厄技术大学） ； Department of Civil, Environmental and Geomatic Engineering, University College London（土木、环境与地理工程系，伦敦大学学院） 纠错

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

AI总结 本文提出DuNe框架，通过双视图和置信度感知过滤，实现基于LiDAR的语义分割在噪声标签下的域泛化，取得SOTA性能。

Privacy-Concealing Cooperative Perception for BEV Scene Segmentation

隐私保护的协作感知用于鸟瞰图场景分割

Song Wang, Lingling Li, Marcus Santos, Guanghui Wang

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

AI总结 本文提出隐私保护协作框架，通过隐藏网络与对抗学习机制，在保持分割性能的同时降低重建图像质量，保护协作车辆隐私。

Real-Time 2D LiDAR Object Detection Using Three-Frame RGB Scan Encoding

基于三帧RGB扫描编码的实时2D激光雷达目标检测

Soheil Behnam Roudsari, Alexandre S. Brandão, Felipe N. Martins

机构 * Smart Systems Group, Institute of Engineering Hanze University of Applied Sciences, Groningen, The Netherlands 纠错

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

AI总结 本研究提出一种基于三帧RGB扫描编码的实时2D激光雷达目标检测方法，实现高效且隐私友好的嵌入式室内机器人感知。

Comments 6 pages, 6 figures, submitted to IEEE SAS 2026

LCF3D: A Robust and Real-Time Late-Cascade Fusion Framework for 3D Object Detection in Autonomous Driving

LCF3D: 一种用于自动驾驶中3D物体检测的鲁棒且实时的后期级联融合框架

Carlo Sgaravatti, Riccardo Pieroni, Matteo Corno, Sergio M. Savaresi, Luca Magri, Giacomo Boracchi

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

AI总结 LCF3D通过结合RGB图像和LiDAR点云的后期级联融合方法，提升自动驾驶中3D物体检测的鲁棒性和实时性。

Comments 35 pages, 14 figures. Published at Pattern Recognition

MSSF: A 4D Radar and Camera Fusion Framework With Multi-Stage Sampling for 3D Object Detection in Autonomous Driving

MSSF: 一种基于4D雷达和摄像头的多阶段采样融合框架用于自动驾驶中的3D目标检测

Hongsi Liu, Jun Liu, Guangfeng Jiang, Xin Jin

机构 * Department of Electronic Engineering and Information Science, University of Science and Technology of China（电子工程与信息科学系，中国科学技术大学） ； Ningbo Institute of Digital Twin, Eastern Institute of Technology（宁波数字孪生研究所，东部技术研究所） 纠错

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

AI总结 MSSF通过多阶段采样融合4D雷达和摄像头数据，提升自动驾驶中3D目标检测的精度与鲁棒性。

Comments T-TITS accepted, code avaliable

Towards Streaming LiDAR Object Detection with Point Clouds as Egocentric Sequences

面向点云作为自车序列的流式LiDAR目标检测

Mellon M. Zhang, Glen Chou, Saibal Mukhopadhyay

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

AI总结 PFCF提出了一种混合检测器，结合极坐标处理和笛卡尔推理，实现低延迟高精度的LiDAR目标检测。

Comments Accepted to WACV 2026

LargeAD: Large-Scale Cross-Sensor Data Pretraining for Autonomous Driving

LargeAD: 大规模跨传感器数据预训练用于自动驾驶

Lingdong Kong, Xiang Xu, Youquan Liu, Jun Cen, Runnan Chen, Wenwei Zhang, Liang Pan, Kai Chen, Ziwei Liu

机构 * WorldBench Team（WorldBench团队） 纠错

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

AI总结 LargeAD通过跨传感器数据预训练提升自动驾驶中的三维场景理解，结合多模态对比学习和时间一致性，实现更鲁棒的感知性能。

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

BEVDilation: LiDAR-Centric Multi-Modal Fusion for 3D Object Detection

BEVDilation：以LiDAR为中心的多模态融合用于3D目标检测

Guowen Zhang, Chenhang He, Liyi Chen, Lei Zhang

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

AI总结 BEVDilation提出以LiDAR为中心的多模态融合方法，通过稀疏体素扩张和语义引导BEV扩张模块提升3D目标检测性能，有效缓解深度误差带来的空间错位问题。

Comments Accept by AAAI26

TrajDiff: End-to-end Autonomous Driving without Perception Annotation

TrajDiff: 无需感知标注的端到端自动驾驶

Xingtai Gui, Jianbo Zhao, Wencheng Han, Jikai Wang, Jiahao Gong, Feiyang Tan, Cheng-zhong Xu, Jianbing Shen

机构 * SKL-IOTSC, CIS, University of Macau（澳门大学智能物联网与交通系统研究中心，计算机学院） ； University of Science and Technology of China（中国科学技术大学） ； Mach Drive 纠错

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

AI总结 TrajDiff通过无需感知标注的轨迹导向鸟瞰图扩散框架，实现了端到端自动驾驶，达到领先性能。

PEFT-DML: Parameter-Efficient Fine-Tuning Deep Metric Learning for Robust Multi-Modal 3D Object Detection in Autonomous Driving

PEFT-DML：参数高效微调深度度量学习用于自动驾驶中鲁棒的多模态3D物体检测

Abdolazim Rezaei, Mehdi Sookhak

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

AI总结 PEFT-DML通过参数高效微调深度度量学习，提升自动驾驶中多模态3D物体检测的鲁棒性和准确性。

Percept-WAM: Perception-Enhanced World-Awareness-Action Model for Robust End-to-End Autonomous Driving

Percept-WAM：感知增强的环境感知-行动模型用于鲁棒的端到端自动驾驶

Jianhua Han, Meng Tian, Jiangtong Zhu, Fan He, Huixin Zhang, Sitong Guo, Dechang Zhu, Hao Tang, Pei Xu, Yuze Guo, Minzhe Niu, Haojie Zhu, Qichao Dong, Xuechao Yan, Siyuan Dong, Lu Hou, Qingqiu Huang, Xiaosong Jia, Hang Xu

机构 * Yinwang Intelligent Technology Co. Ltd.（亿网通智能科技有限公司） ； Fudan University（复旦大学） 纠错

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

AI总结 Percept-WAM通过整合2D/3D场景理解能力，提升自动驾驶的感知与行动决策，实现端到端鲁棒性能。

Bridging Perspectives: Foundation Model Guided BEV Maps for 3D Object Detection and Tracking

Markus Käppeler, Özgün Çiçek, Daniele Cattaneo, Claudius Gläser, Yakov Miron, Abhinav Valada

机构 * Department of Computer Science, University of Freiburg, Germany（弗赖堡大学计算机科学系） ； Bosch Research, Robert Bosch GmbH, Renningen, Germany（博世研究） 纠错

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

S2S-Net: Addressing the Domain Gap of Heterogeneous Sensor Systems in LiDAR-Based Collective Perception

Sven Teufel, Jörg Gamerdinger, Oliver Bringmann

机构 * University of Tübingen, Faculty of Science, Department of Computer Science, Embedded Systems（图宾根大学科学学院计算机科学系嵌入式系统部） 纠错

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

Efficient Model-Based Purification Against Adversarial Attacks for LiDAR Segmentation

Alexandros Gkillas, Ioulia Kapsali, Nikos Piperigkos, Aris S. Lalos

机构 * Industrial Systems Institute, Athena Research Center, Patras Science Park, Greece（工业系统研究所，雅典研究中心，帕特拉斯科学公园，希腊） ； AviSense.AI, Patras Science Park, Greece（AviSense.AI，帕特拉斯科学公园，希腊） 纠错

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

Progressive Bird's Eye View Perception for Safety-Critical Autonomous Driving: A Comprehensive Survey

Yan Gong, Naibang Wang, Jianli Lu, Xinyu Zhang, Yongsheng Gao, Jie Zhao, Zifan Huang, Haozhi Bai, Nanxin Zeng, Nayu Su, Lei Yang, Ziying Song, Xiaoxi Hu, Xinmin Jiang, Xiaojuan Zhang, Susanto Rahardja

机构 * State Key Laboratory of Robotics and System（机器人系统国家重点实验室） ； Harbin Institute of Technology（哈尔滨工业大学） ； State Key Laboratory of Intelligent Green Vehicle and Mobility（智能绿色车辆与移动性国家重点实验室） ； Tsinghua University（清华大学） ； the School of Mechanical and Aerospace Engineering（机械与航空航天工程学院） ； Nanyang Technological University（南洋理工大学） ； Beijing Key Laboratory of Traffic Data Mining and Embodied Intelligence（北京交通数据挖掘与具身智能重点实验室） ； Beijing Jiaotong University（北京交通大学） ； the Institute for Infocomm Research（信息通信研究所） ； A*STAR ； the Engineering Cluster（工程集群） ； the Singapore Institute of Technology（新加坡理工学院） 纠错

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

Co-Win: Joint Object Detection and Instance Segmentation in LiDAR Point Clouds via Collaborative Window Processing

Haichuan Li, Tomi Westerlund

机构 * Turku Intelligent Embedded and Robotics Systems lab, Faculty of Technology University of Turku（图尔库智能嵌入式与机器人系统实验室，技术学院图尔库大学） 纠错

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

InterLoc: LiDAR-based Intersection Localization using Road Segmentation with Automated Evaluation Method

Nguyen Hoang Khoi Tran, Julie Stephany Berrio, Mao Shan, Zhenxing Ming, Stewart Worrall

机构 * The University of Sydney（悉尼大学） ； Australian Centre for Robotics（澳大利亚机器人中心） 纠错

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

Beyond One Shot, Beyond One Perspective: Cross-View and Long-Horizon Distillation for Better LiDAR Representations

Xiang Xu, Lingdong Kong, Song Wang, Chuanwei Zhou, Qingshan Liu

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

Comments ICCV 2025; 26 pages, 12 figures, 10 tables; Code at http://github.com/Xiangxu-0103/LiMA

ECCV 2024 W-CODA: 1st Workshop on Multimodal Perception and Comprehension of Corner Cases in Autonomous Driving

Kai Chen, Ruiyuan Gao, Lanqing Hong, Hang Xu, Xu Jia, Holger Caesar, Dengxin Dai, Bingbing Liu, Dzmitry Tsishkou, Songcen Xu, Chunjing Xu, Qiang Xu, Huchuan Lu, Dit-Yan Yeung

机构 * Hong Kong University of Science and Technology（香港科学与技术大学） ； The Chinese University of Hong Kong（香港中文大学） ； Dalian University of Technology（大连理工大学） ； TU Delft（代尔夫特理工大学） ； Huawei Noah’s Ark Lab（华为诺亚实验室） ； Huawei Zurich Research Center（华为苏黎世研究中心） ； Huawei IAS BU（华为IAS业务单元） 纠错

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

Comments ECCV 2024. Workshop page: https://coda-dataset.github.io/w-coda2024/

BiCo-Fusion: Bidirectional Complementary LiDAR-Camera Fusion for Semantic- and Spatial-Aware 3D Object Detection

Yang Song, Lin Wang

机构 * AI Thrust, The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州）人工智能方向） ； School of Electrical and Electronic Engineering (EEE), Nanyang Technological University (NTU)（南洋理工大学电子与电气工程学院） 纠错

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

Comments Accepted by IEEE Robotics and Automation Letters (RA-L)

Journal ref IEEE Robotics and Automation Letters, Volume 10 Issue 2, 1457 - 1464, February 2025

VisionPAD: A Vision-Centric Pre-training Paradigm for Autonomous Driving

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

机构 * CUHK-Shenzhen（香港中文大学（深圳）） ； SSE（深圳大学） ； HKUST（香港科技大学） ； Huawei Noah’s Ark Lab（华为诺亚实验室） 纠错

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

Comments Accepted at CVPR 2025

MTA: Multimodal Task Alignment for BEV Perception and Captioning

Yunsheng Ma, Burhaneddin Yaman, Xin Ye, Jingru Luo, Feng Tao, Abhirup Mallik, Ziran Wang, Liu Ren

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

Comments 10 pages

Benchmarking and Improving Bird's Eye View Perception Robustness in Autonomous Driving

Shaoyuan Xie, Lingdong Kong, Wenwei Zhang, Jiawei Ren, Liang Pan, Kai Chen, Ziwei Liu

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

Comments TPAMI 2025; 17 pages, 13 figures, 11 tables; Code at this https URL: https://github.com/Daniel-xsy/RoboBEV

Mask-RadarNet: Enhancing Transformer With Spatial-Temporal Semantic Context for Radar Object Detection in Autonomous Driving

Yuzhi Wu, Jun Liu, Guangfeng Jiang, Weijian Liu, Danilo Orlando

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

AllWeatherNet:Unified Image Enhancement for Autonomous Driving under Adverse Weather and Lowlight-conditions

Chenghao Qian, Mahdi Rezaei, Saeed Anwar, Wenjing Li, Tanveer Hussain, Mohsen Azarmi, Wei Wang

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

Comments ICPR 2024, Piero Zamperoni Overall Best Student Paper Award

Real-Time 3D Object Detection Using InnovizOne LiDAR and Low-Power Hailo-8 AI Accelerator

Itay Krispin-Avraham, Roy Orfaig, Ben-Zion Bobrovsky

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

Dynamic Adversarial Attacks on Autonomous Driving Systems

Amirhosein Chahe, Chenan Wang, Abhishek Jeyapratap, Kaidi Xu, Lifeng Zhou

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

RAPiD-Seg: Range-Aware Pointwise Distance Distribution Networks for 3D LiDAR Segmentation

Li Li, Hubert P. H. Shum, Toby P. Breckon

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

Comments ECCV 2024 (Oral); 18 pages, 6 figures, 7 tables; Code at https://github.com/l1997i/rapid_seg

Journal ref Eur. Conf. Comput. Vis. (ECCV 2024 ORAL)

Towards Efficient 3D Object Detection in Bird's-Eye-View Space for Autonomous Driving: A Convolutional-Only Approach

Yuxin Li, Qiang Han, Mengying Yu, Yuxin Jiang, Chaikiat Yeo, Yiheng Li, Zihang Huang, Nini Liu, Hsuanhan Chen, Xiaojun Wu

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

Key Ingredients of Self-Driving Cars

Rui Fan, Jianhao Jiao, Haoyang Ye, Yang Yu, Ioannis Pitas, Ming Liu

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

Comments 5 pages, 2 figures, EUSIPCO 2019 Satellite Workshop: Signal Processing, Computer Vision and Deep Learning for Autonomous Systems