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. Semantic Misalignment in Vision-Language Models under Perceptual Degradation

    Jan 13, 2026Guo Cheng, Huang LiVLM EvaluationVLM Robustness

  2. 4D-RaDiff: Latent Point Diffusion for 4D Radar Point Cloud Generation

    Dec 16, 2025Jimmie Kwok, Holger Caesar, Andras PalffySynthetic Data AugmentationPoint Cloud Learning

    Delft University of Technology, Netherlands · Perciv AI, Netherlands

  3. LiDAS: Lighting-driven Dynamic Active Sensing for Nighttime Perception

    Dec 9, 2025Simon de Moreau, Andrei Bursuc, Hafid El-Idrissi +1Autonomous Driving PerceptionActive Sensing

    Valeo - Mines Paris PSL · Valeo · Mines Paris PSL

  4. Fast-BEV++: Fast by Algorithm, Deployable by Design

    Dec 9, 2025Yuanpeng Chen, Hui Song, Sheng Yang +5Autonomous Driving PerceptionBird's-Eye-View Representation

    iMotion Automotive Technology (Suzhou) Co., Ltd · School of Data Science, Fudan University · Independent Researcher

  5. UniFlow: Zero-Shot LiDAR Scene Flow for Autonomous Vehicles

    Nov 23, 2025Siyi Li, Qingwen Zhang, Ishan Khatri +4Point Cloud LearningAutonomous Driving Perception

    University of Pennsylvania · KTH Royal Institute of Technology · StackAV +1

  6. RoadBench: Benchmarking MLLMs on Fine-Grained Spatial Understanding and Reasoning under Urban Road Scenarios

    Nov 22, 2025Jun Zhang, Xin Zhang, Jie Feng +5VLM EvaluationSpatial Reasoning Benchmarks

    Department of Electronic Engineering, BNRist, Tsinghua University, Beijing, China · Zhongguancun Academy · Amap, Alibaba Group, Beijing, China

  7. Benchmarking Nighttime Traffic Sign Recognition with Illumination-Adaptive Detection and Semantic Attribute Reasoning

    Nov 21, 2025Aditya Mishra, Akshay Agarwal, Haroon LoneTraffic Sign DetectionIntelligent Transportation Systems

    IISER Bhopal

  8. HENet++: Hybrid Encoding and Multi-task Learning for 3D Perception and End-to-end Autonomous Driving

    Nov 10, 2025Zhongyu Xia, Zhiwei Lin, Yongtao Wang +1Autonomous Driving PerceptionEnd-to-End Autonomous Driving

    Wangxuan Institute of Computer Technology, Peking University, Beijing, China. · University of California, Merced, USA.

  9. DIAL-GS: Dynamic Instance Aware Reconstruction for Label-free Street Scenes with 4D Gaussian Splatting

    Nov 10, 2025Chenpeng Su, Wenhua Wu, Chensheng Peng +33D Gaussian SplattingSelf-Supervised Learning

    Shanghai Jiao Tong University, Shanghai 200240, China. · University of California, Berkeley, Berkeley, CA 94720, USA.

  10. MLPerf Automotive

    Oct 31, 2025Radoyeh Shojaei, Predrag Djurdjevic, Mostafa El-Khamy +7End-to-End Autonomous DrivingBenchmark Design

    University of California, Davis · Arm · Samsung +5

  11. AD-SAM: Adapting the Segment Anything Model for Semantic Segmentation in Autonomous Driving

    Oct 30, 2025Het Patel, Mario Camarena, Fatemeh Nazari +3Vision Foundation Model AdaptationAutonomous Driving Perception

    Department of Computer Science, The University of Texas Rio Grande Valley, Edinburg, TX 78539 USA · Department of Civil Engineering, The University of Texas Rio Grande Valley, Edinburg, TX 78539 USA · Department of Computer Science and Engineering, University of California Riverside, Riverside, CA 92521 USA

  12. BikeScenes: LiDAR Semantic Segmentation for Bicycles

    Oct 29, 2025Denniz Goren, Holger CaesarAutonomous Driving Perception3D Semantic Segmentation

  13. AURASeg: Attention-Guided Upsampling with Residual-Assisted Boundary Refinement for Drivable-Area Segmentation

    Oct 24, 2025Narendhiran VijayakumarAutonomous Driving PerceptionBoundary-Aware Segmentation

  14. Injecting Hallucinations in Autonomous Vehicles: A Component-Agnostic Safety Evaluation Framework

    Oct 9, 2025Alexandre Moreira Nascimento, Gabriel Kenji Godoy Shimanuki, Lúcio Flavio Vismari +5Autonomous Driving Safety EvaluationAutonomous Driving

    Escola Politécnica da Universidade de São Paulo, São Paulo 05508-010, Brazil · Center for Design Research, Department of Mechanical Engineering, Stanford, CA 94305 USA · Department of Communication, University of Miami, Coral Gables, FL 33124 USA +1

  15. OEL-AD: An Online Evolutive Learning Framework for Cross-Region Adaptive Autonomous Driving

    Aug 15, 2025Jiayue Jin, Lang Qian, Jingyu Zhang +2Autonomous DrivingAdaptive Learning

    College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China

  16. CogAD: Cognitive-Hierarchy Guided End-to-End Autonomous Driving

    May 27, 2025Zhennan Wang, Jianing Teng, Canqun Xiang +4End-to-End Autonomous DrivingAutonomous Driving Perception

    HAOMO.AI Technology Co., Ltd

  17. Simulating Automotive Radar with Lidar and Camera Inputs

    Mar 11, 2025Peili Song, Dezhen Song, Yifan Yang +2Synthetic Data AugmentationMillimeter-Wave Radar

    Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300350, China; Tianjin Key Laboratory of Intelligent Robotics, Tianjin 300350, China; and also with TBI center, Nankai University, Tianjin 300350, China · Department of Robotics, Mohamed Bin Zayed University of Artificial Intelligence (MBZUAI), Abu Dhabi, United Arab Emirates

  18. Open-World Panoptic Segmentation

    Dec 17, 2024Matteo Sodano, Federico Magistri, Jens Behley +1Image SegmentationPanoptic Segmentation

    Center for Robotics, University of Bonn, Germany, and the Lamarr Institute for Machine Learning and Artificial Intelligence, Germany

  19. Test-time Correction: An Online 3D Detection System via Visual Prompting

    Dec 10, 2024Hanxue Zhang, Zetong Yang, Yanan Sun +3Autonomous Driving Perception3D Object Detection

    Shanghai Jiao Tong University, Shanghai, China · Shanghai AI Lab, Shanghai, China · GAC R&D Center, Guangzhou, China +2

  20. ROAD-Waymo: A Large-Scale Action Awareness Dataset for Autonomous Driving

    Nov 3, 2024Salman Khan, Izzeddin Teeti, Reza Javanmard Alitappeh +5Autonomous Driving DatasetsAutonomous Driving Benchmarks

    Oxford Brookes University · MAZUST · University of Oxford +2

  21. EPMF: Efficient Perception-aware Multi-sensor Fusion for 3D Semantic Segmentation

    Jun 21, 2021Mingkui Tan, Zhuangwei Zhuang, Sitao Chen +4Camera-LiDAR FusionAutonomous Driving Perception

    School of Software Engineering, South China University of Technology · Pazhou Laboratory, Guangzhou, China · School of Electronic and Information Engineering, South China University of Technology +2