Autonomous Driving Perception

Ask about this topic

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. All Vehicles Can Lie: Efficient Adversarial Defense in Fully Untrusted-Vehicle Collaborative Perception via Pseudo-Random Bayesian Inference

    Mar 9, 2026Yi Yu, Libing Wu, Zhuangzhuang Zhang +3Adversarial RobustnessCooperative Perception

    School of Cyber Science and Engineering, Wuhan University · Cyberspace Institute of Advanced Technology, Guangzhou University

  2. WaveComm: Lightweight Communication for Collaborative Perception via Wavelet Feature Distillation

    Mar 9, 2026Erdemt Bao, Jin YangCommunication-Efficient Collaborative PerceptionCooperative Perception

    School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China. · National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, and Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, Shaanxi 710049, China.

  3. DynamicVGGT: Learning Dynamic Point Maps for 4D Scene Reconstruction in Autonomous Driving

    Mar 9, 2026Zhuolin He, Jing Li, Guanghao Li +9Dynamic Scene ReconstructionAutonomous Driving Perception

    Fudan University · Yinwang Intelligent Technology · Huawei +2

  4. 4DRC-OCC: Robust Semantic Occupancy Prediction Through Fusion of 4D Radar and Camera

    Mar 8, 2026David Ninfa, Andras Palffy, Holger Caesar3D Occupancy PredictionAutonomous Driving Perception

    Cognitive Robotics, Delft University of Technology · Perciv AI

  5. Faster-HEAL: An Efficient and Privacy-Preserving Collaborative Perception Framework for Heterogeneous Autonomous Vehicles

    Mar 7, 2026Armin Maleki, Hayder RadhaAutonomous Driving PerceptionHeterogeneous Collaborative Perception

    Electrical and Computer Engineering, Michigan State University, East Lansing, Michigan

  6. Fusion4CA: Boosting 3D Object Detection via Comprehensive Image Exploitation

    Mar 5, 2026Kang Luo, Xin Chen, Yangyi Xiao +13D Object DetectionCamera-LiDAR Fusion

    IRMV Lab, the Department of Automation, Shanghai Jiao Tong University.

  7. A 360-degree Multi-camera System for Blue Emergency Light Detection Using Color Attention RT-DETR and the ABLDataset

    Mar 5, 2026Francisco Vacalebri-Lloret, Lucas Banchero, Jose J. Lopez +1Object DetectionAutonomous Driving Perception

    Universitat Politècnica de València, Spain · Institute of Telecommunications and Multimedia Applications, Universitat Politècnica de València, 46022 València, Spain.

  8. PRAM-R: A Perception-Reasoning-Action-Memory Framework with LLM-Guided Modality Routing for Adaptive Autonomous Driving

    Mar 4, 2026Yi Zhang, Xian Zhang, Saisi Zhao +4Multimodal Model RoutingAutonomous Driving

    Chair of Robotics, Artificial Intelligence and Embedded Systems Technical University of Munich (TUM) Munich, Germany

  9. GSeg3D: A High-Precision Grid-Based Algorithm for Safety-Critical Ground Segmentation in LiDAR Point Clouds

    Mar 4, 2026Muhammad Haider Khan Lodhi, Christoph Hertzberg3D Point Cloud SegmentationAutonomous Driving Perception

    German Research Center for Artificial Intelligence (DFKI), Robotics Innovation Center, Bremen, Germany

  10. LiDAR Prompted Spatio-Temporal Multi-View Stereo for Autonomous Driving

    Mar 4, 2026Qihao Sun, Jiarun Liu, Ziqian Ni +5Multi-View Depth EstimationDepth Estimation

    Unmanned Vehicle Dept., CaiNiao Inc., Alibaba Group · Harbin Institute of Technology

  11. Hazard-Aware Traffic Scene Graph Generation

    Mar 3, 2026Yaoqi Huang, Julie Stephany Berrio, Mao Shan +1Scene Graph GenerationAutonomous Driving Perception

    Australian Center for Robotics (ACFR), The University of Sydney, NSW, Australia.

  12. VLMFusionOcc3D: VLM Assisted Multi-Modal 3D Semantic Occupancy Prediction

    Mar 3, 2026A. Enes Doruk, Hasan F. Ates3D Occupancy PredictionAutonomous Driving Perception

  13. TruckDrive: Long-Range Autonomous Highway Driving Dataset

    Mar 2, 2026Filippo Ghilotti, Edoardo Palladin, Samuel Brucker +3Autonomous Driving DatasetsAutonomous Driving Perception

    Torc Robotics · Princeton University

  14. From Leaderboard to Deployment: Code Quality Challenges in AV Perception Repositories

    Mar 2, 2026Mateus Karvat, Bram Adams, Sidney GivigiSoftware SecurityAutonomous Driving Perception

    School of Computing, Queen’s University. Kingston, ON, Canada.

  15. WhisperNet: A Scalable Solution for Bandwidth-Efficient Collaboration

    Mar 2, 2026Gong Chen, Chaokun Zhang, Xinyan ZhaoCommunication-Efficient Collaborative PerceptionCooperative Perception

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

  16. CoopDiff: A Diffusion-Guided Approach for Cooperation under Corruptions

    Mar 2, 2026Gong Chen, Chaokun Zhang, Pengcheng LvDiffusion-Based DenoisingCooperative Perception

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

  17. Vision-Language Feature Alignment for Road Anomaly Segmentation

    Mar 1, 2026Zhuolin He, Jiacheng Tang, Jian Pu +1Image SegmentationAutonomous Driving Perception

    School of Computer Science, Fudan University, Shanghai 200433, China · Institute of Science and Technology for Brain-Inspired Intelligence, Fudan University, Shanghai, 200433, China

  18. RaUF: Learning the Spatial Uncertainty Field of Radar

    Mar 1, 2026Shengpeng Wang, Kuangyu Wang, Wei WangmmWave Radar SensingAutonomous Driving Perception

    Huazhong University of Science and Technology · Wuhan University

  19. Dr.Occ: Depth- and Region-Guided 3D Occupancy from Surround-View Cameras for Autonomous Driving

    Mar 1, 2026Xubo Zhu, Haoyang Zhang, Fei He +43D Occupancy PredictionAutonomous Driving Perception

    School of Electronic Information, Wuhan University · Horizon Robotics · Wuhan University Shenzhen Research Institute

  20. Physical Evaluation of Naturalistic Adversarial Patches for Camera-Based Traffic-Sign Detection

    Feb 27, 2026Brianna D'Urso, Tahmid Hasan Sakib, Syed Rafay Hasan +1Traffic Sign DetectionPhysical Adversarial Attacks

    Department of Computing Sciences, University of Hartford, West Hartford, CT, USA · Department of Electrical and Computer Engineering, Tennessee Technological University, Cookeville, TN, USA · Center for Manufacturing Research, Tennessee Technological University, Cookeville, TN, USA

  21. CycleBEV: Regularizing View Transformation Networks via View Cycle Consistency for Bird's-Eye-View Semantic Segmentation

    Feb 27, 2026Jeongbin Hong, Dooseop Choi, Taeg-Hyun An +2Bird's-Eye-View SegmentationCycle Consistency

    Electronics and Telecommunications Research Institute (ETRI) · University of Science and Technology (UST)

  22. TaCarla: A comprehensive benchmarking dataset for end-to-end autonomous driving

    Feb 26, 2026Tugrul Gorgulu, Atakan Dag, M. Esat Kalfaoglu +4Autonomous Driving DatasetsAutonomous Driving Benchmarks

    The authors are currently with Trutek AI. · This work was conducted at Trutek AI. The author is currently with Ultralytics. · This work was conducted at Trutek AI. The author is currently with Amazon.

  23. Learning to Drive is a Free Gift: Large-Scale Label-Free Autonomy Pretraining from Unposed In-The-Wild Videos

    Feb 25, 2026Matthew Strong, Wei-Jer Chang, Quentin Herau +4Autonomous DrivingAutonomous Driving Perception

    Applied Intuition · Stanford University · UC Berkeley

  24. Faster Training, Fewer Labels: Self-Supervised Pretraining for Fine-Grained BEV Segmentation

    Feb 20, 2026Daniel Busch, Christian Bohn, Thomas Kurbiel +3Bird's-Eye-View SegmentationAutonomous Driving Perception

    University of Wuppertal · APTIV

  25. A Cost-Effective and Climate-Resilient Air Pressure System for Rain Effect Reduction on Automated Vehicle Cameras

    Feb 19, 2026Mohamed Sabry, Joseba Gorospe, Cristina Olaverri-MonrealAutonomous Driving Perception

    Department Intelligent Transport Systems, Johannes Kepler University Linz, Altenberger Straße 69, 4040 Linz, Austria.

  26. HyperDet: 3D Object Detection with Hyper 4D Radar Point Clouds

    Feb 12, 2026Yichun Xiao, Jin Jin, Runwei Guan +1Point Cloud CompletionmmWave Radar Sensing

    HKUST(GZ) · University of Edinburgh · University of Oxford

  27. GaussianCaR: Gaussian Splatting for Efficient Camera-Radar Fusion

    Feb 9, 2026Santiago Montiel-Marín, Miguel Antunes-García, Fabio Sánchez-García +3Camera-Radar FusionAutonomous Driving Perception

    Department of Electronics. University of Alcalá, Spain. · Department of Cognitive Robotics. Delft University of Technology, The Netherlands.

  28. A Comparative Evaluation of Large Vision-Language Models for 2D Object Detection under SOTIF Conditions

    Jan 30, 2026Ji Zhou, Yilin Ding, Yongqi Zhao +4VLM EvaluationLarge Vision-Language Models

    Institute of Automotive Engineering, Graz University of Technology, 8010 Graz, Austria · Independent Researcher, 200000 Shanghai, China · School of Intelligent Connected Vehicle, Hubei University of Automotive Technology, 442002 Shiyan, China +1

  29. AsyncBEV: Cross-modal Flow Alignment in Asynchronous 3D Object Detection

    Jan 19, 2026Shiming Wang, Holger Caesar, Liangliang Nan +1Autonomous Driving Perception3D Object Detection

    Intelligent Vehicles Group, Delft University of Technology · 3D Geoinformation Group, Delft University of Technology

  30. Zero-Shot Distracted Driver Detection via Vision Language Models with Double Decoupling

    Jan 13, 2026Takamichi Miyata, Sumiko Miyata, Andrew MorrisVision-Language ModelsAutonomous Driving Perception

    Chiba Institute of Technology · Chiba, Japan · Institute of Science Tokyo +3