Autonomous Driving Perception

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Overview

Autonomous driving perception turns sensor data into estimates of what is around a vehicle, where things are, and how they are moving, supporting safe navigation and interaction. Common tasks include 2D and 3D object detection, lane and road segmentation, tracking, depth estimation, and 3D occupancy; approaches use cameras, LiDAR, radar, event sensors, or sensor fusion, often with bird’s-eye-view representations and temporal models. Methods are commonly evaluated on datasets such as nuScenes, Waymo, KITTI, Cityscapes, and OpenLane, with increasing attention to night, adverse weather, long range, occlusion, and sensor failure. A central challenge is improving real-world reliability and safety without excessive compute: learned fusion and vision-language models can add context, but must be grounded in accurate geometry and tested beyond clean, familiar benchmark conditions.

Latest papers

CardsList

381 papers34 papers in the last four weeks, down 3% on the four weeks before. 0.2% of all new papers.

  1. Long-SCOPE: Fully Sparse Long-Range Cooperative 3D Perception

    Apr 10, 2026Jiahao Wang, Zikun Xu, Yuner Zhang +8Cooperative PerceptionAutonomous Driving Perception

    Tsinghua University · University of Pennsylvania · Nanyang Technological University +1

  2. Revisiting Radar Perception With Spectral Point Clouds

    Apr 9, 2026Hamza Alsharif, Jing Gu, Pavol Jancura +2Millimeter-Wave RadarAutonomous Driving Perception

    Eindhoven University of Technology · NXP Semiconductors

  3. DinoRADE: Full Spectral Radar-Camera Fusion with Vision Foundation Model Features for Multi-class Object Detection in Adverse Weather

    Apr 9, 2026Christof Leitgeb, Thomas Puchleitner, Max Peter Ronecker +1Object DetectionAutonomous Driving Perception

    Infineon Technologies AG, Austria · Graz University of Technology, Austria · Virtual Vehicle Research GmbH, Austria

  4. Object-Centric Stereo Ranging for Autonomous Driving: From Dense Disparity to Census-Based Template Matching

    Apr 9, 2026Qihao HuangStereo MatchingAutonomous Driving Perception

  5. Cognitive-Causal Multi-Task Learning with Psychological State Conditioning for Assistive Driving Perception

    Apr 8, 2026Keito Inoshita, Nobuhiro Hayashida, Akira ImanishiMulti-Task LearningAutonomous Driving Perception

    Kansai University, 3-3-35, Yamatecho, Suita, Osaka, Japan 564-8680 · ISUZU Advanced Engineering Center, Ltd., 8, Tsuchidana, Fujisawa City, Kanagawa, Japan 252-0881

  6. Telescope: Learnable Hyperbolic Foveation for Ultra-Long-Range Object Detection

    Apr 7, 2026Parker Ewen, Dmitriy Rivkin, Mario Bijelic +1Foveated VisionObject Detection

    Torc Robotics · Princeton University

  7. Adversarial Robustness Analysis of Cloud-Assisted Autonomous Driving Systems

    Apr 6, 2026Maher Al Islam, Amr S. El-WakeelAdversarial Attacks on Object DetectorsAdversarial Robustness

    Lane Department of Computer Science and Electrical Engineering, West Virginia University, WV, USA

  8. SpectralSplat: Appearance-Disentangled Feed-Forward Gaussian Splatting for Driving Scenes

    Apr 3, 2026Quentin Herau, Tianshuo Xu, Depu Meng +53D Scene Relighting3D Gaussian Splatting

    Applied Intuition · The Hong Kong University of Science and Technology · University of California, Berkeley

  9. BEVPredFormer: Spatio-temporal Attention for BEV Instance Prediction in Autonomous Driving

    Apr 3, 2026Miguel Antunes-García, Santiago Montiel-Marín, Fabio Sánchez-García +3Autonomous Driving Perception3D ViTs

    RobeSafe Research Group, Department of Electronics, University of Alcalá, Alcalá de Henares, Madrid, Spain.

  10. Deep Neural Network Based Roadwork Detection for Autonomous Driving

    Apr 2, 2026Sebastian Wullrich, Nicolai Steinke, Daniel GoehringAutonomous Driving PerceptionReal-Time Object Detection

    Dahlem Center for Machine Learning and Robotics, Freie Universität Berlin

  11. UniDriveVLA: Unifying Understanding, Perception, and Action Planning for Autonomous Driving

    Apr 2, 2026Yongkang Li, Lijun Zhou, Sixu Yan +11Mixture-of-TransformersVision-Language-Action Models

    Huazhong University of Science and Technology · Xiaomi EV · SKL-IOTSC, University of Macau

  12. Lightweight Spatiotemporal Highway Lane Detection via 3D-ResNet and PINet with ROI-Aware Attention

    Apr 2, 2026Sorna Shanmuga Raja, Abdelhafid ZenatiLane DetectionAutonomous Driving Perception

    Engineering Department, School of Science and Technology (SST), City, St George’s University of London, Northampton Square, London, EC1V 0HB, United Kingdom.

  13. Diff-KD: Diffusion-based Knowledge Distillation for Collaborative Perception under Corruptions

    Apr 2, 2026Pengcheng Lyu, Chaokun Zhang, Gong Chen +2Cooperative PerceptionAutonomous Driving Perception

    School of Future Technology, Tianjin University, Tianjin, China · School of Cybersecurity, Tianjin University, Tianjin, China · School of Computer Science and Technology, Tianjin University, Tianjin, China

  14. On Learning Spatial Structure from Pre-Beamforming Per-Antenna Range-Doppler Radar Measurements

    Apr 2, 2026George Sebastian, Philipp Berthold, Bianca Forkel +2Representation LearningMillimeter-Wave Radar

    Institute for Autonomous Driving, Department of Aerospace Engineering, University of the Bundeswehr Munich, Neubiberg, Germany

  15. Efficient Equivariant Transformer for Self-Driving Agent Modeling

    Apr 1, 2026Scott Xu, Dian Chen, Kelvin Wong +3Autonomous DrivingEquivariant Neural Networks

    Waabi · University of Toronto

  16. Towards Viewpoint-Robust End-to-End Autonomous Driving with 3D Foundation Model Priors

    Apr 1, 2026Hiroki Hashimoto, Hiromichi Goto, Hiroyuki Sugai +2End-to-End Autonomous DrivingAutonomous Driving Planning

    Chiba University · National Institute of Informatics

  17. DiffAttn: Diffusion-Based Drivers' Visual Attention Prediction with LLM-Enhanced Semantic Reasoning

    Mar 30, 2026Weimin Liu, Qingkun Li, Jiyuan Qiu +2Visual AttentionAutonomous Driving Perception

    School of vehicle and Mobility, Tsinghua University, Beijing, China · Beijing Key Laboratory of Human-Computer Interaction, Institute of Software, Chinese Academy of Sciences, Beijing, China · Remote Sensing and Earth Observation Laboratory, University of Copenhagen, Copenhagen K, Denmark +1

  18. TwinMixing: A Shuffle-Aware Feature Interaction Model for Multi-Task Segmentation

    Mar 30, 2026Minh-Khoi Do, Huy Che, Dinh-Duy Phan +2Semantic SegmentationAutonomous Driving Perception

    University of Information Technology, Ho Chi Minh City, Vietnam · Vietnam National University, Ho Chi Minh City, Vietnam

  19. AutoDrive-P3AutoDrive\text{-}P^3: Unified Chain of Perception-Prediction-Planning Thought via Reinforcement Fine-Tuning

    Mar 30, 2026Yuqi Ye, Zijian Zhang, Junhong Lin +3Autonomous Driving PlanningVLMs for Autonomous Driving

    School of Electronic and Computer Engineering, Peking University

  20. To View Transform or Not to View Transform: NeRF-based Pre-training Perspective

    Mar 30, 2026Hyeonjun Jeong, Juyeb Shin, Dongsuk Kum3D ReconstructionAutonomous Driving Perception

    KAIST, Daejeon, Korea

  21. Effort-Based Criticality Metrics for Evaluating 3D Perception Errors in Autonomous Driving

    Mar 30, 2026Sharang Kaul, Simon Bultmann, Mario Berk +1Autonomous Driving Safety EvaluationAutonomous Driving Perception

    CARIAD SE, Germany · Department of Computer Science, University of Freiburg, Germany

  22. UniDA3D: A Unified Domain-Adaptive Framework for Multi-View 3D Object Detection

    Mar 30, 2026Hongjing Wu, Cheng Chi, Jinlin Wu +3Multi-View 3D Object DetectionAutonomous Driving Perception

    the Shenzhen Campus of Sun Yat-sen University, Shenzhen, China · The State Key Laboratory of Blockchain and Data Security, Zhejiang University, Hangzhou, China · the Beijing Academy of Artificial Intelligence, Beijing, China +2

  23. Annotation-Free Detection of Drivable Areas and Curbs Leveraging LiDAR Point Cloud Maps

    Mar 29, 2026Fulong Ma, Daojie Peng, Jun MaAutonomous Driving Perception

    The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China

  24. Autonomous overtaking trajectory optimization using reinforcement learning and opponent pose estimation

    Mar 28, 2026Matej Rene Cihlar, Luka Šiktar, Branimir Ćaran +1Autonomous DrivingAutonomous Racing

    University of Zagreb, Zagreb 10000, Croatia, Faculty of mechanical engineering and naval architecture

  25. MotiMem: Motion-Aware Approximate Memory for Energy-Efficient Neural Perception in Autonomous Vehicles

    Mar 28, 2026Haohua Que, Mingkai Liu, Jiayue Xie +5Energy-Efficient MLMemory-Efficient Inference

    University of Georgia · Peking University · Tsinghua University +1

  26. GeoReFormer: Geometry-Aware Refinement for Lane Segment Detection and Topology Reasoning

    Mar 27, 2026Danny Abraham, Nikhil Kamalkumar Advani, Arun Das +1Autonomous Driving PerceptionHD Map Construction

    University of California, Irvine, CA, USA · Bosch North America, Sunnyvale, CA, USA

  27. Challenges in Hyperspectral Imaging for Autonomous Driving: The HSI-Drive Case

    Mar 26, 2026Koldo Basterretxea, Jon Gutiérrez-Zaballa, Javier EchanobeHyperspectral ImagingAutonomous Driving Perception

    University of the Basque Country, Dep. of Electronics Technology · University of the Basque Country, Dep. of Electricity and Electronics

  28. Le MuMo JEPA: Multi-Modal Self-Supervised Representation Learning with Learnable Fusion Tokens

    Mar 25, 2026Ciem Cornelissen, Sam Leroux, Pieter SimoensMultimodal SSLMultimodal Learning

    IDLab, Department of Information Technology, Ghent University - imec, Belgium

  29. Uncertainty-Aware Vision-based Risk Object Identification via Conformal Risk Tube Prediction

    Mar 25, 2026Kai-Yu Fu, Yi-Ting ChenAutonomous Driving PerceptionAutonomous Driving

    National Yang Ming Chiao Tung University

  30. Mind the Hitch: Dynamic Calibration and Articulated Perception for Autonomous Trucks

    Mar 24, 2026Morui Zhu, Yongqi Zhu, Song Fu +1Autonomous DrivingAutonomous Driving Perception

    University of North Texas