Autonomous Driving Perception

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20 papers in the last four weeks, up 186% on the four weeks before. 0.2% of all new papers.

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Beyond Chamfer Distance: Granular Order-aware Evaluation Metric For Online Mapping
May 21, 2026Chouaib Bencheikh Lehocine, Adam Lilja, Junsheng Fu +1Autonomous Driving Perception
1Zenseact AB · 2Chalmers University of Technology Gothenburg, Sweden
Making the Discrete Continuous: Synthetic RAW Augmentations for Fine-Grained Evaluation of Person Detection Performance in Low Light
May 21, 2026Valeria Pais, Malena Mendilaharzu, Daniele Faccio +3Synthetic Data Augmentation Autonomous Driving Perception
University of Glasgow · Chapel Ln, Glasgow G11 6EW, UK · Dotphoton +2
Learning A Unified Risk Map for Autonomous Driving in Partially Observable Environments
May 21, 2026Jie Jia, Yaofeng Su, Zeyu Bao +4Occlusion Reasoning Autonomous Driving Perception
Fudan University, China · Tongji University, China
LiteViLNet: Lightweight Vision-LiDAR Fusion Network for Efficient Road Segmentation
May 20, 2026Daojie Peng, Bingtao Wang, Fulong Ma +2Edge Inference Camera-LiDAR Fusion
The Hong Kong University of Science and Technology (Guangzhou) · The Shandong University
Bridging Structure and Language: Graph-Based Visual Reasoning for Autonomous Road Understanding
May 20, 2026Lena Wild, Katie Z Luo, Marco PavoneVisual Reasoning Autonomous Driving
KTH Royal Institute of Technology · TRATON · Stanford University +1
A Semantic and Occlusion-Aware GM-PHD Filter
May 20, 2026Jovan Menezes, Mark CampbellBayesian Filtering Autonomous Driving Perception
Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA
STELLAR: Scaling 3D Perception Large Models for Autonomous Driving
May 19, 2026Yingwei Li, Xin Huang, Yang Liu +133D ViTs Autonomous Driving
Waymo, Mountain View, CA, USA · UCSD, La Jolla, CA, USA
CADENet: Condition-Adaptive Asynchronous Dual-Stream Enhancement Network for Adverse Weather Perception in Autonomous Driving
May 19, 2026Sherif Khairy, Catherine M. EliasImage Enhancement Autonomous Driving Perception
Computer Science & Engineering Department, German University in Cairo (GUC), Egypt · C-DRiVeS Lab: Cognitive Driving Research in Vehicular Systems, Cairo, Egypt
Co-Fusion4D: Spatio-temporal Collaborative Fusion for Robust 3D Object Detection
May 19, 2026Wenxuan Li, Qin Zou, Shoubing Chen +3Autonomous Driving Perception 3D Object Detection
Real-World On-Vehicle Evaluation of Embedding-Based Anomaly Detection
May 19, 2026Albert Schotschneider, Daniel Bogdoll, Svetlana Pavlitska +2Autonomous Driving Perception Anomaly Localization
FZI Research Center for Information Technology · KIT Karlsruhe Institute of Technology
Weakly Supervised Cross-Modal Learning for 4D Radar Scene Flow Estimation
May 18, 2026Jingyun Fu, Zhiyu Xiang, Na ZhaoCross-Modal Learning Autonomous Driving Perception
Zhejiang University, Hangzhou, Zhejiang, China · Zhejiang Provincial Key Laboratory of Multi-Modal Communication Networks and Intelligent Information Processing, Zhejiang, China · Singapore University of Technology and Design, Singapore.
4DLidarOpen: An Open 4D FMCW Lidar Dataset for Motion-Aware Autonomous Driving
May 18, 2026Kane Qian, Xin Zhao, Yining Shi +7Autonomous Driving Datasets Autonomous Driving
1Tsinghua University. · 2Hesai Technology Co., Ltd.
Motion Cues from Image-based Point Tracking for LiDAR Scene Flow Estimation
May 16, 2026Youngdong Jang, Gyeongrok Oh, Jong Wook Kim +6Point Tracking Autonomous Driving Perception
Korea University · Purdue University · KAIST +1
DriveSafe: A Framework for Risk Detection and Safety Suggestions in Driving Scenarios
May 16, 2026Sainithin Artham, Shankar Gangisetty, Avijit Dasgupta +1VLMs for Autonomous Driving Autonomous Driving Safety Evaluation
IIIT-Hyderabad, India
Towards Trustworthy and Explainable AI for Perception Models: From Concept to Prototype Vehicle Deployment
May 15, 2026Till Beemelmanns, Shayan Sharifi, Manas Mehrotra +2Explainable Artificial Intelligence Autonomous Driving Perception
Institute for Automotive Engineering, RWTH Aachen University, 52074 Aachen, Germany
RAMS: Resource-Adaptive and Detection-Conditioned Model Switching for Embedded Edge Perception
May 14, 2026Kushal Khemani, Evan Leri, George Xu +1Adaptive Model Routing Edge Inference
NEXEDGE Research Lab
Systematic Discovery of Semantic Attacks in Online Map Construction through Conditional Diffusion
May 14, 2026Chenyi Wang, Ruoyu Song, Raymond Muller +5HD Map Construction Adversarial Attacks
University of Arizona · Purdue University · Lawrence Livermore National Laboratory +2
Generative Texture Diversification of 3D Pedestrians for Robust Autonomous Driving Perception
May 13, 2026Arka Bhowmick, Enes Ozeren, Ahmed Abdullah +13D Asset Generation Synthetic Data Generation
1BIT Technology Solutions GmbH, Germany · 2Mannheim University of Applied Sciences, Germany
Still Camouflage, Moving Illusion: View-Induced Trajectory Manipulation in Autonomous Driving
May 12, 2026Shuo Ju, Qingzhao Zhang, Huashan Chen +6Adversarial Attacks Autonomous Driving Perception
Institute of Information Engineering, Chinese Academy of Sciences · The University of Arizona · Beijing Jiaotong University +1
Learning Ego-Centric BEV Representations from a Perspective-Privileged View: Cross-View Supervision for Online HD Map Construction
May 12, 2026Daniel Lengerer, Mathias Pechinger, Klaus Bogenberger +1Simultaneous Localization and Mapping HD Map Construction
Technical University of Applied Sciences Augsburg, Germany · Technical University of Munich, Germany
XWOD: A Real-World Benchmark for Object Detection under Extreme Weather Conditions
May 12, 2026Chih-Hsin Chen, Yu-Tung Liu, Amar Fadillah +2Autonomous Driving Datasets Autonomous Driving Benchmarks
Department of Electronic Engineering, National Taipei University of Technology · Adobe Inc.
Think as Needed: Geometry-Driven Adaptive Perception for Autonomous Driving
May 11, 2026Donghyun Kim, Jaehyoung ParkAdaptive Inference Lidar-Based 3D Object Detection
Stony Brook University
MUSDA: Multi-source Multi-modality Unsupervised Domain Adaptive 3D Object Detection for Autonomous Driving
May 11, 2026Xiaohu Lu, Hamed Khatounabadi, Hayder RadhaMulti-Source Domain Adaptation Unsupervised Domain Adaptation
Electrical and Computer Engineering Michigan State University East Lansing, USA
DRIVE-C: A Controlled Corruption Dataset for Autonomous Driving
May 10, 2026Shiva AherAutonomous Driving Datasets Autonomous Driving Benchmarks
Georgia Institute of Technology, Georgia, United States
FugSeg: Fast Uncertainty-aware Ground Segmentation for 3D Point Cloud
May 9, 2026Yu Li, Volker Schwieger3D Point Cloud Segmentation Autonomous Driving Perception
Institute of Engineering Geodesy, University of Stuttgart, Stuttgart, Germany
Unified Modeling of Lane and Lane Topology for Driving Scene Reasoning
May 9, 2026Han Li, Yulu Gao, Si Liu +3Autonomous Driving Perception
School of Artificial Intelligence, Beihang University, Beijing, China · Zhongguancun Academy, Beijing, China · Hangzhou International Innovation Institute, Beihang University, Hangzhou, China +1
A Task-Agnostic Algebraic Integrity Metric for Event-Camera Streams Toward SOTIF-Compliant Perception using Pearson Correlation Coefficient
May 8, 2026Arthur de Miranda NetoEvent-Based Vision Autonomous Driving Perception
Federal University of Lavras (UFLA), Brazil
Operating Within the Operational Design Domain: Zero-Shot Perception with Vision-Language Models
May 8, 2026Berkehan Ünal, Hauke Dierend, Dren Fazlija +1Zero-Shot Learning Large Vision-Language Models
Volkswagen Aktiengesellschaft, Wolfsburg, Germany · L3S Research Center, Leibniz University Hannover, Hanover, Germany. · Faculty of Information Technology, University of Jyväskylä, Jyväskylä, Finland. +2
Probabilistic Object Detection with Conformal Prediction
May 8, 2026Christopher Ries, Moussa Kassem Sbeyti, Nicolas Bianco +1Autonomous Driving Perception Conformal Prediction
Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany
Weather-Robust Scene Semantics with Vision-Aligned 4D Radar
May 8, 2026Kali Hamilton, Christoffer HeckmanCross-Modal Learning VLM Robustness
Autonomous Robotics and Perception Group at the University of Colorado Boulder, Boulder, CO 80309, USA.

May 21, 2026, cs.CVJ/K move · Enter open · S save

Beyond Chamfer Distance: Granular Order-aware Evaluation Metric For Online Mapping

Chouaib Bencheikh Lehocine, Adam Lilja, Junsheng Fu, Lars Hammarstrand

1Zenseact AB · 2Chalmers University of Technology Gothenburg, Sweden

Autonomous Driving Perception

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Online map estimation is a crucial component of autonomous driving systems that reduces the reliance on costly high-definition maps. State-of-the-art (SOTA) methods commonly predict map elements as ordered sequences of points that form polylines and polygons. The evaluation of these methods relies predominantly on mean average precision (mAP) based on thresholded Chamfer distance (CD). This framework lacks sensitivity to point ordering and provides limited granularity in assessing geometric quality, making it difficult to distinguish which methods truly excel over others. In this work, we address these limitations on two fronts. For the single-instance similarity measure, we introduce sequence optimal sub-pattern assignment (SOSPA), an order-aware metric that enables fine-grained evaluation of individual geometries while satisfying all metric axioms. For the multi-instance evaluation framework, we propose polyline localisation and detection (PLD), a soft metric that jointly captures detection quality and geometric accuracy, replacing the hard thresholding of mAP with a principled soft assignment. Through evaluations on nuScenes, we demonstrate that PLD effectively ranks SOTA online mapping methods (MapTRv2, StreamMapNet, MapTracker) while providing a decomposed error analysis. This analysis identifies detection capability as the dominant bottleneck in current methods, revealing a performance trend that mAP fails to capture. Code for evaluation using our metrics will be released.

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