RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perception

1 code implementation • 15 Mar 2024 • Ruiyang Hao, Siqi Fan, Yingru Dai, Zhenlin Zhang, Chenxi Li, Yuntian Wang, Haibao Yu, Wenxian Yang, Jirui Yuan, Zaiqing Nie

The value of roadside perception, which could extend the boundaries of autonomous driving and traffic management, has gradually become more prominent and acknowledged in recent years.

3D Object Detection 3D Object Tracking +1

QUEST: Query Stream for Practical Cooperative Perception

1 code implementation • 3 Aug 2023 • Siqi Fan, Haibao Yu, Wenxian Yang, Jirui Yuan, Zaiqing Nie

In this paper, we propose the concept of query cooperation to enable interpretable instance-level flexible feature interaction.

V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecasting

1 code implementation • CVPR 2023 • Haibao Yu, Wenxian Yang, Hongzhi Ruan, Zhenwei Yang, Yingjuan Tang, Xu Gao, Xin Hao, Yifeng Shi, Yifeng Pan, Ning Sun, Juan Song, Jirui Yuan, Ping Luo, Zaiqing Nie

Utilizing infrastructure and vehicle-side information to track and forecast the behaviors of surrounding traffic participants can significantly improve decision-making and safety in autonomous driving.

Autonomous Driving Decision Making +1

Vehicle-Infrastructure Cooperative 3D Object Detection via Feature Flow Prediction

1 code implementation • 19 Mar 2023 • Haibao Yu, Yingjuan Tang, Enze Xie, Jilei Mao, Jirui Yuan, Ping Luo, Zaiqing Nie

Cooperatively utilizing both ego-vehicle and infrastructure sensor data can significantly enhance autonomous driving perception abilities.

3D Object Detection Autonomous Driving +1

LODE: Locally Conditioned Eikonal Implicit Scene Completion from Sparse LiDAR

1 code implementation • 27 Feb 2023 • Pengfei Li, Ruowen Zhao, Yongliang Shi, Hao Zhao, Jirui Yuan, Guyue Zhou, Ya-Qin Zhang

In this paper, we propose a novel Eikonal formulation that conditions the implicit representation on localized shape priors which function as dense boundary value constraints, and demonstrate it works on SemanticKITTI and SemanticPOSS.

Autonomous Driving Representation Learning

INT2: Interactive Trajectory Prediction at Intersections

1 code implementation • ICCV 2023 • Zhijie Yan, Pengfei Li, Zheng Fu, Shaocong Xu, Yongliang Shi, Xiaoxue Chen, Yuhang Zheng, Yang Li, Tianyu Liu, Chuxuan Li, Nairui Luo, Xu Gao, Yilun Chen, Zuoxu Wang, Yifeng Shi, Pengfei Huang, Zhengxiao Han, Jirui Yuan, Jiangtao Gong, Guyue Zhou, Hang Zhao, Hao Zhao

One of the most challenging problems in motion forecasting is interactive trajectory prediction, whose goal is to jointly forecasts the future trajectories of interacting agents.

Motion Forecasting Trajectory Prediction

A High Fidelity Simulation Framework for Potential Safety Benefits Estimation of Cooperative Pedestrian Perception

no code implementations • 17 Oct 2022 • Longrui Chen, Yan Zhang, Wenjie Jiang, Jiangtao Gong, Jiahao Shen, Mengdi Chu, Chuxuan Li, Yifeng Pan, Yifeng Shi, Nairui Luo, Xu Gao, Jirui Yuan, Guyue Zhou, Yaqin Zhang

This paper proposes a high-fidelity simulation framework that can estimate the potential safety benefits of vehicle-to-infrastructure (V2I) pedestrian safety strategies.

DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detection

1 code implementation • CVPR 2022 • Haibao Yu, Yizhen Luo, Mao Shu, Yiyi Huo, Zebang Yang, Yifeng Shi, Zhenglong Guo, Hanyu Li, Xing Hu, Jirui Yuan, Zaiqing Nie

Autonomous driving faces great safety challenges for a lack of global perspective and the limitation of long-range perception capabilities.

3D Object Detection Autonomous Driving +1