Author name cluster

Yun Ye

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5 papers

2 author rows

IJCAI Conference 2025 Conference Paper

GraphAD: Interaction Scene Graph for End-to-end Autonomous Driving

Yunpeng Zhang
Deheng Qian
Ding Li
Yifeng Pan
Yong Chen
Zhenbao Liang
Zhiyao Zhang
Yingzong Liu

Modeling complicated interactions among the ego-vehicle, road agents, and map elements has been a crucial part for safety-critical autonomous driving. Previous work on end-to-end autonomous driving relies on the attention mechanism to handle heterogeneous interactions, which fails to capture geometric priors and is also computationally intensive. In this paper, we propose the Interaction Scene Graph (ISG) as a unified method to model the interactions among the ego-vehicle, road agents, and map elements. With the representation of the ISG, the driving agents aggregate essential information from the most influential elements, including the road agents with potential collisions and the map elements to follow. Since a mass of unnecessary interactions are omitted, the more efficient scene-graph-based framework is able to focus on indispensable connections and leads to better performance. We evaluate the proposed method for end-to-end autonomous driving on the nuScenes dataset. Compared with strong baselines, our method significantly outperforms in full-stack driving tasks.

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AAAI Conference 2024 Conference Paper

DiffBEV: Conditional Diffusion Model for Bird’s Eye View Perception

Jiayu Zou
Kun Tian
Zheng Zhu
Yun Ye
Xingang Wang

BEV perception is of great importance in the field of autonomous driving, serving as the cornerstone of planning, controlling, and motion prediction. The quality of the BEV feature highly affects the performance of BEV perception. However, taking the noises in camera parameters and LiDAR scans into consideration, we usually obtain BEV representation with harmful noises. Diffusion models naturally have the ability to denoise noisy samples to the ideal data, which motivates us to utilize the diffusion model to get a better BEV representation. In this work, we propose an end-to-end framework, named DiffBEV, to exploit the potential of diffusion model to generate a more comprehensive BEV representation. To the best of our knowledge, we are the first to apply diffusion model to BEV perception. In practice, we design three types of conditions to guide the training of the diffusion model which denoises the coarse samples and refines the semantic feature in a progressive way. What's more, a cross-attention module is leveraged to fuse the context of BEV feature and the semantic content of conditional diffusion model. DiffBEV achieves a 25.9% mIoU on the nuScenes dataset, which is 6.2% higher than the best-performing existing approach. Quantitative and qualitative results on multiple benchmarks demonstrate the effectiveness of DiffBEV in BEV semantic segmentation and 3D object detection tasks.

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AAAI Conference 2023 Conference Paper

Crafting Monocular Cues and Velocity Guidance for Self-Supervised Multi-Frame Depth Learning

Xiaofeng Wang
Zheng Zhu
Guan Huang
Xu Chi
Yun Ye
Ziwei Chen
Xingang Wang

Self-supervised monocular methods can efficiently learn depth information of weakly textured surfaces or reflective objects. However, the depth accuracy is limited due to the inherent ambiguity in monocular geometric modeling. In contrast, multi-frame depth estimation methods improve depth accuracy thanks to the success of Multi-View Stereo (MVS), which directly makes use of geometric constraints. Unfortunately, MVS often suffers from texture-less regions, non-Lambertian surfaces, and moving objects, especially in real-world video sequences without known camera motion and depth supervision. Therefore, we propose MOVEDepth, which exploits the MOnocular cues and VElocity guidance to improve multi-frame Depth learning. Unlike existing methods that enforce consistency between MVS depth and monocular depth, MOVEDepth boosts multi-frame depth learning by directly addressing the inherent problems of MVS. The key of our approach is to utilize monocular depth as a geometric priority to construct MVS cost volume, and adjust depth candidates of cost volume under the guidance of predicted camera velocity. We further fuse monocular depth and MVS depth by learning uncertainty in the cost volume, which results in a robust depth estimation against ambiguity in multi-view geometry. Extensive experiments show MOVEDepth achieves state-of-the-art performance: Compared with Monodepth2 and PackNet, our method relatively improves the depth accuracy by 20% and 19.8% on the KITTI benchmark. MOVEDepth also generalizes to the more challenging DDAD benchmark, relatively outperforming ManyDepth by 7.2%. The code is available at https://github.com/JeffWang987/MOVEDepth.

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ICRA Conference 2023 Conference Paper

Efficient and Hybrid Decoder for Local Map Construction in Bird'-Eye-View

Kun Tian
Yun Ye
Zheng Zhu
Peng Li
Guan Huang 0003

High-definition maps are crucial perception elements for autonomous robot navigation systems, which can provide accurate scene layout and environment information for downstream motion prediction and planning control tasks. Traditional methods based on manual annotation or SLAM algorithms require massive labor efforts and time costs, which hinders the deployment of practical applications. Online construction of local maps from on-board cameras offers an alternative solution. Aiming at the problems of unsatisfying precision and redundant computation of HDMapNet, we propose an efficient and hybrid decoder (EHD) that consists of a CNN-based segmentation (Seg) head and a query-based lane detection head (QLD). Specifically, the Seg head outputs pixel-level semantic maps, and QLD predicts instance mask for each lane object through learnable query embeddings. The designed decoding method eliminates the cumulative error caused by inaccurate semantic maps and does not require additional clustering algorithm for post-processing. Through combining with a variety of bird's-eye-view (BEV) encoders, the effectiveness and efficiency of our EHD is demonstrated by extensive experiments. For segmentation task, the mIoU scores of semantic map can be improved by 1. 3%∼2. 9%. Additionally, the accuracy of lane detection is also significantly increased (more than 10. 2% mAP) under all evaluation criteria. Since our method discards redundant post-processing, the inference speed is up to 22. 71 FPS, which is 32 times faster than HDMapNet.

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AAAI Conference 2020 Conference Paper

End-to-End Thorough Body Perception for Person Search

Kun Tian
Houjing Huang
Yun Ye
Shiyu Li
Jinbin Lin
Guan Huang

In this paper, we propose an improved end-to-end multibranch person search network to jointly optimize person detection, re-identiﬁcation, instance segmentation, and keypoint detection. First, we build a better and faster base model to extract non-highly correlated feature expression; Second, a foreground feature enhance module is used to alleviate undesirable background noise in person feature maps; Third, we design an algorithm to learn the part-aligned representation for person search. Extensive experiments with ablation analysis show the effectiveness of our proposed end-to-end multi-task model, and we demonstrate its superiority over the state-of-the-art methods on two benchmark datasets including CUHK-SYSU and PRW.

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