CVPR 2024 Papers Autonomous Driving

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1) End to End | 端到端自动驾驶

Is Ego Status All You Need for Open-Loop End-to-End Autonomous Driving?

• Paper: https://arxiv.org/pdf/2312.03031.pdf
• Code: https://github.com/NVlabs/BEV-Planner

Visual Point Cloud Forecasting enables Scalable Autonomous Driving

• Paper: https://arxiv.org/pdf/2312.17655.pdf
• Code: https://github.com/OpenDriveLab/ViDAR

PlanKD: Compressing End-to-End Motion Planner for Autonomous Driving

• Paper: https://arxiv.org/pdf/2403.01238.pdf
• Code: https://github.com/tulerfeng/PlanKD

VLP: Vision Language Planning for Autonomous Driving

• Paper：https://arxiv.org/abs/2401.05577

2）LLM Agent | 大语言模型智能体

ChatSim: Editable Scene Simulation for Autonomous Driving via LLM-Agent Collaboration

• Paper: https://arxiv.org/pdf/2402.05746.pdf
• Code: https://github.com/yifanlu0227/ChatSim

LMDrive: Closed-Loop End-to-End Driving with Large Language Models

• Paper: https://arxiv.org/pdf/2312.07488.pdf
• Code: https://github.com/opendilab/LMDrive

MAPLM: A Real-World Large-Scale Vision-Language Dataset for Map and Traffic Scene Understanding

• Code: https://github.com/LLVM-AD/MAPLM

One Prompt Word is Enough to Boost Adversarial Robustness for Pre-trained Vision-Language Models

• Paper：https://arxiv.org/pdf/2403.01849.pdf
• Code：https://github.com/TreeLLi/APT

PromptKD: Unsupervised Prompt Distillation for Vision-Language Models

• Paper：https://arxiv.org/pdf/2403.02781

RegionGPT: Towards Region Understanding Vision Language Model

• Paper：https://arxiv.org/pdf/2403.02330

Towards Learning a Generalist Model for Embodied Navigation

• Paper: https://arxiv.org/pdf/2312.02010.pdf
• Code: https://github.com/zd11024/NaviLLM

3）SSC: Semantic Scene Completion | 语义场景补全

Symphonize 3D Semantic Scene Completion with Contextual Instance Queries

• Paper: https://arxiv.org/pdf/2306.15670.pdf
• Code: https://github.com/hustvl/Symphonies

PaSCo: Urban 3D Panoptic Scene Completion with Uncertainty Awareness

• Paper: https://arxiv.org/pdf/2312.02158.pdf
• Code: https://github.com/astra-vision/PaSCo

SemCity: Semantic Scene Generationwith Triplane Diffusion

• Paper: https://arxiv.org/pdf/2403.07773.pdf
• Code: https://github.com/zoomin-lee/SemCity

4）OCC: Occupancy Prediction | 占用感知

SelfOcc: Self-Supervised Vision-Based 3D Occupancy Prediction

• Paper: https://arxiv.org/pdf/2311.12754.pdf
• Code: https://github.com/huang-yh/SelfOcc

Cam4DOcc: Benchmark for Camera-Only 4D Occupancy Forecasting in Autonomous Driving Applications

• Paper: https://arxiv.org/pdf/2311.17663.pdf
• Code: https://github.com/haomo-ai/Cam4DOcc

PanoOcc: Unified Occupancy Representation for Camera-based 3D Panoptic Segmentation

• Paper: https://arxiv.org/pdf/2306.10013.pdf
• Code: https://github.com/Robertwyq/PanoOcc

5) World Model | 世界模型

Driving into the Future: Multiview Visual Forecasting and Planning with World Model for Autonomous Driving

• Paper: https://arxiv.org/pdf/2311.17918.pdf
• Code: https://github.com/BraveGroup/Drive-WM

6）车道线检测

Lane2Seq: Towards Unified Lane Detection via Sequence Generation

• Paper：https://arxiv.org/abs/2402.17172

7）Pre-training | 预训练

UniPAD: A Universal Pre-training Paradigm for Autonomous Driving

• Paper: https://arxiv.org/pdf/2310.08370.pdf
• Code: https://github.com/Nightmare-n/UniPAD

8）AIGC | 人工智能内容生成

Panacea: Panoramic and Controllable Video Generation for Autonomous Driving

• Paper: https://arxiv.org/pdf/2311.16813.pdf
• Code: https://github.com/wenyuqing/panacea

SemCity: Semantic Scene Generation with Triplane Diffusion

• Paper:
• Code: https://github.com/zoomin-lee/SemCity

BerfScene: Bev-conditioned Equivariant Radiance Fields for Infinite 3D Scene Generation

• Paper: https://arxiv.org/pdf/2312.02136.pdf
• Code: https://github.com/zqh0253/BerfScene

9）3D Object Detection | 三维目标检测

PTT: Point-Trajectory Transformer for Efficient Temporal 3D Object Detection

• Paper: https://arxiv.org/pdf/2312.08371.pdf
• Code: https://github.com/KuanchihHuang/PTT

SeaBird: Segmentation in Bird’s View with Dice Loss Improves Monocular 3D Detection of Large Objects

• Paper: https://arxiv.org/pdf/2403.20318
• Code: https://github.com/abhi1kumar/SeaBird

VSRD: Instance-Aware Volumetric Silhouette Rendering for Weakly Supervised 3D Object Detection

• Code: https://github.com/skmhrk1209/VSRD

CaKDP: Category-aware Knowledge Distillation and Pruning Framework for Lightweight 3D Object Detection

• Code: https://github.com/zhnxjtu/CaKDP

CN-RMA: Combined Network with Ray Marching Aggregation for 3D Indoors Object Detection from Multi-view Images

• Paper：https://arxiv.org/abs/2403.04198
• Code：https://github.com/SerCharles/CN-RMA

UniMODE: Unified Monocular 3D Object Detection

• Paper：https://arxiv.org/abs/2402.18573

Enhancing 3D Object Detection with 2D Detection-Guided Query Anchors

• Paper：https://arxiv.org/abs/2403.06093
• Code：https://github.com/nullmax-vision/QAF2D

SAFDNet: A Simple and Effective Network for Fully Sparse 3D Object Detection

• Paper：https://arxiv.org/abs/2403.05817
• Code：https://github.com/zhanggang001/HEDNet

RadarDistill: Boosting Radar-based Object Detection Performance via Knowledge Distillation from LiDAR Features

• Paper：https://arxiv.org/pdf/2403.05061

IS-Fusion: Instance-Scene Collaborative Fusion for Multimodal 3D Object Detection

• Paper: https://arxiv.org/pdf/2403.15241.pdf
• Code: https://github.com/yinjunbo/IS-Fusion

RCBEVDet: Radar-camera Fusion in Bird’s Eye View for 3D Object Detection

• Paper: https://arxiv.org/pdf/2403.16440.pdf
• Code: https://github.com/VDIGPKU/RCBEVDet

MonoCD: Monocular 3D Object Detection with Complementary Depths

• Paper:
• Code: https://github.com/dragonfly606/MonoCD

10）Stereo Matching | 双目立体匹配

MoCha-Stereo: Motif Channel Attention Network for Stereo Matching

• Code: https://github.com/ZYangChen/MoCha-Stereo

Learning Intra-view and Cross-view Geometric Knowledge for Stereo Matching

• Paper：https://arxiv.org/abs/2402.19270
• Code：https://github.com/DFSDDDDD1199/ICGNet

Selective-Stereo: Adaptive Frequency Information Selection for Stereo Matching

• Paper：https://arxiv.org/abs/2403.00486
• Code：https://github.com/Windsrain/Selective-Stereo

Adaptive Multi-Modal Cross-Entropy Loss for Stereo Matching

• Paper: https://arxiv.org/pdf/2306.15612.pdf
• Code: https://github.com/xxxupeng/ADL

Neural Markov Random Field for Stereo Matching

• Paper: https://arxiv.org/pdf/2403.11193.pdf
• Code: https://github.com/aeolusguan/NMRF

11）Cooperative Perception | 协同感知

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

• Code: https://github.com/ryhnhao/RCooper

12）SLAM

SNI-SLAM: SemanticNeurallmplicit SLAM

• Paper: https://arxiv.org/pdf/2311.11016.pdf

CricaVPR: Cross-image Correlation-aware Representation Learning for Visual Place Recognition

• Paper：https://arxiv.org/abs/2402.19231
• Code：https://github.com/Lu-Feng/CricaVPR

Implicit Event-RGBD Neural SLAM

• Paper: https://arxiv.org/pdf/2311.11013.pdf
• Code: https://github.com/DelinQu/EN-SLAM

13）Scene Flow Estimation | 场景流估计

DifFlow3D: Toward Robust Uncertainty-Aware Scene Flow Estimation with Iterative Diffusion-Based Refinement

• Paper: https://arxiv.org/pdf/2311.17456.pdf
• Code: https://github.com/IRMVLab/DifFlow3D

3DSFLabeling: Boosting 3D Scene Flow Estimation by Pseudo Auto Labeling

• Paper: https://arxiv.org/pdf/2402.18146.pdf
• Code: https://github.com/jiangchaokang/3DSFLabelling

Regularizing Self-supervised 3D Scene Flows with Surface Awareness and Cyclic Consistency

• Paper: https://arxiv.org/pdf/2312.08879.pdf
• Code: https://github.com/vacany/sac-flow

14）Point Cloud | 点云

Point Transformer V3: Simpler, Faster, Stronger

• Paper: https://arxiv.org/pdf/2312.10035.pdf
• Code: https://github.com/Pointcept/PointTransformerV3

Rethinking Few-shot 3D Point Cloud Semantic Segmentation

• Paper: https://arxiv.org/pdf/2403.00592.pdf
• Code: https://github.com/ZhaochongAn/COSeg

PDF: A Probability-Driven Framework for Open World 3D Point Cloud Semantic Segmentation

• Code: https://github.com/JinfengX/PointCloudPDF

Weakly Supervised Point Cloud Semantic Segmentation via Artificial Oracle

• Paper:
• Code: https://github.com/jihun1998/AO

GLiDR: Topologically Regularized Graph Generative Network for Sparse LiDAR Point Clouds

• Paper:
• Code: https://github.com/GLiDR-CVPR2024/GLiDR

15) Efficient Network

Efficient Deformable ConvNets: Rethinking Dynamic and Sparse Operator for Vision Applications

• Paper: https://arxiv.org/pdf/2401.06197.pdf

RepViT: Revisiting Mobile CNN From ViT Perspective

• Paper: https://arxiv.org/pdf/2307.09283.pdf
• Code: https://github.com/THU-MIG/RepViT

16) Segmentation

OMG-Seg: Is One Model Good Enough For All Segmentation?

• Paper: https://arxiv.org/pdf/2401.10229.pdf
• Code: https://github.com/lxtGH/OMG-Seg

Stronger, Fewer, & Superior: Harnessing Vision Foundation Models for Domain Generalized Semantic Segmentation

• Paper: https://arxiv.org/pdf/2312.04265.pdf
• Code: https://github.com/w1oves/Rein

SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimation

• Paper：https://arxiv.org/abs/2311.15707

SED: A Simple Encoder-Decoder for Open-Vocabulary Semantic Segmentation

• Paper：https://arxiv.org/abs/2311.15537

Style Blind Domain Generalized Semantic Segmentation via Covariance Alignment and Semantic Consistence Contrastive Learning

• Paper：https://arxiv.org/abs/2403.06122

17）Radar | 毫米波雷达

DART: Doppler-Aided Radar Tomography

• Code: https://github.com/thetianshuhuang/dart

RadSimReal: Bridging the Gap Between Synthetic and Real Data in Radar Object Detection With Simulation

• Code: https://github.com/yuvalHG/RadSimReal

18）Nerf与Gaussian Splatting

DrivingGaussian: Composite Gaussian Splatting for Surrounding Dynamic Autonomous Driving Scenes

• Paper: https://arxiv.org/pdf/2312.07920.pdf
• Code: https://github.com/VDIGPKU/DrivingGaussian

Dynamic LiDAR Re-simulation using Compositional Neural Fields

• Paper: https://arxiv.org/pdf/2312.05247.pdf
• Code: https://github.com/prs-eth/Dynamic-LiDAR-Resimulation

NARUTO: Neural Active Reconstruction from Uncertain Target Observations

• Paper：https://arxiv.org/abs/2402.18771

DNGaussian: Optimizing Sparse-View 3D Gaussian Radiance Fields with Global-Local Depth Normalization

• Paper：https://arxiv.org/abs/2403.06912

19）MOT: Muti-object Tracking | 多物体跟踪

Delving into the Trajectory Long-tail Distribution for Muti-object Tracking

• Code: https://github.com/chen-si-jia/Trajectory-Long-tail-Distribution-for-MOT

DeconfuseTrack:Dealing with Confusion for Multi-Object Tracking

• Paper：https://arxiv.org/abs/2403.02767

20）Multi-label Atomic Activity Recognition

Action-slot: Visual Action-centric Representations for Multi-label Atomic Activity Recognition in Traffic Scenes

• Paper: https://arxiv.org/pdf/2311.17948.pdf
• Code: https://github.com/HCIS-Lab/Action-slot

21) Motion Prediction | 运动预测

SmartRefine: An Scenario-Adaptive Refinement Framework for Efficient Motion Prediction

• Code: https://github.com/opendilab/SmartRefine

22) Trajectory Prediction | 轨迹预测

Test-Time Training of Trajectory Prediction via Masked Autoencoder and Actor-specific Token Memory

• Paper: https://arxiv.org/pdf/2403.10052.pdf
• Code: https://github.com/daeheepark/T4P

Producing and Leveraging Online Map Uncertainty in Trajectory Prediction

• Paper: https://arxiv.org/pdf/2403.16439.pdf
• Code: https://github.com/alfredgu001324/MapUncertaintyPrediction

23) Depth Estimation | 深度估计

AFNet: Adaptive Fusion of Single-View and Multi-View Depth for Autonomous Driving

• Paper: https://arxiv.org/pdf/2403.07535.pdf
• Code: https://github.com/Junda24/AFNet

24) Event Camera | 事件相机

Seeing Motion at Nighttime with an Event Camera

• Paper:
• Code: https://github.com/Liu-haoyue/NER-Net?tab=readme-ov-file

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