特對IROS2021 自動駕駛相關文章進行總結，包括：決策、規劃、導航、定位、感知、跟蹤、預測、控制等各個方向，本文對論文進行了分類，希望對自動駕駛行業的同行們提供一些有益的參考。完整版的分類論文原文見下方百度網盤連結，github連結：

連結：

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參考連結：

https：//

zhuanlan。zhihu。com/p/43

2829868

Perception:

3D Radar Velocity Maps for Uncertain Dynamic Environments

A 3D Visual Perception Approach for Autonomous Driving Based on Surround-View Fisheye Cameras

A Simple and Efficient Multi-Task Network for 3D Object Detection and Road Understanding

BEV-Net A Bird‘s Eye View Object Detection Network for LiDAR Point Cloud

CP-Loss Connectivity-Preserving Loss for Road Curb Detection in Autonomous Driving with Aerial Images

Fine-Grained Off-Road Semantic Segmentation and Mapping Via Contrastive Learning

LiDAR-Based Drivable Region Detection for Autonomous Driving

Monitoring Object Detection Abnormalities Via Data-Label and Post-Algorithm Abstractions

Monocular 3D Vehicle Detection Using Uncalibrated Traffic Cameras through Homography

RV-FuseNet Range View Based Fusion of Time-Series LiDAR Data for Joint 3D Object Detection and Motion Forecasting

SSTN： Self-Supervised Domain Adaptation Thermal Object Detection for Autonomous Driving

COINet： Adaptive Segmentation with Co-Interactive Network for Autonomous Driving

SNE-RoadSeg+ Rethinking Depth-Normal Translation and Deep Supervision for Freespace Detection

Unsupervised Vehicle Re-Identification Via Self-Supervised Metric Learning Using Feature Dictionary

Prediction:

Automated Type-Aware Traffic Speed Prediction Based on Sparse Intelligent Camera System

Decoder Fusion RNN Context and Interaction Aware Decoders for Trajectory Prediction

Joint Intention and Trajectory Prediction Based on Transformer

Maneuver-based Trajectory Prediction for Self-driving Cars Using Spatio-temporal Convolutional Networks

Multiple Contextual Cues Integrated Trajectory Prediction for Autonomous Driving

Tracking:

Cross-Modal 3D Object Detection and Tracking for Auto-Driving

Joint Multi-Object Detection and Tracking with Camera-LiDAR Fusion for Autonomous Driving

Model-free Vehicle Tracking and State Estimation in Point Cloud Sequences

Score Refinement for Confidence-Based 3D Multi-Object Tracking

Planning:

DeepSIL A Software-In-The-Loop Framework for Evaluating Motion Planning Schemes Using Multiple Trajectory Prediction Networks

Diverse Critical Interaction Generation for Planning and Planner Evaluation

PILOT： Efficient Planning by Imitation Learning and Optimisation for Safe Autonomous Driving

STFP： Simultaneous Traffic Scene Forecasting and Planning for Autonomous Driving

A Novel Recursive Smooth Trajectory Generation Method for Unmanned Vehicles

Intention recognition:

A Multimodal and Hybrid Framework for Human Navigational Intent Inference

An Efficient Understandability Objective for Dynamic Optimal Control

CovarianceNet Conditional Generative Model for Correct Covariance Prediction in Human Motion Prediction

GRIT Fast， Interpretable， and Verifiable Goal Recognition with Learned Decision Trees for Autonomous Driving

Interpretable Goal Recognition in the Presence of Occluded Factors for Autonomous Vehicles

Multi-modal Scene-compliant User Intention Estimation in Navigation

Safety-Oriented Pedestrian Occupancy Forecasting

Simultaneous Prediction of Pedestrian Trajectory and Actions Based on Context Information Iterative Reasoning

Control:

Semi-Cooperative Control for Autonomous Emergency Vehicles

Navigation:

A 3D Visual Perception Approach for Autonomous Driving Based on Surround-View Fisheye Cameras

A Kinematic Model for Trajectory Prediction in General Highway Scenarios

A Multi-Objective Path Planning and Exploration Framework for Unknown and Unstructured Environments

Autonomous Drone Racing with Deep Reinforcement Learning

Autonomous Mobile Robot Navigation Independent of Road Boundary Using Driving Recommendation Map

Autonomous Vehicle Navigation in Semi-Structured Environments Based on Sparse Waypoints and LiDAR Road-Tracking

Connecting Deep-Reinforcement-Learning-Based Obstacle Avoidance with Conventional Global Planners Using Waypoint Generators

Context and Orientation Aware Path Tracking

Cooperative Autonomous Vehicles That Sympathize with Human Drivers

Deep Semantic Segmentation at the Edge for Autonomous Navigation in Vineyard Rows

DiGNet Learning Scalable Self-Driving Policies for Generic Traffic Scenarios with Graph Neural Networks

Fast Autonomous Robotic Exploration Using the Underlying Graph Structure

Gaussian Process-based Interpretable Runtime Adaptation for Safe Autonomous Systems Operations in Unstructured Environments

Interaction-Based Trajectory Prediction Over a Hybrid Traffic Graph

KB-Tree Learnable and Continuous Monte-Carlo Tree Search for Autonomous Driving Planning

Latent Attention Augmentation for Robust Autonomous Driving Policies

Learning Inverse Kinodynamics for Accurate High-Speed Off-Road Navigation on Unstructured Terrain

Learning-Based 3D Occupancy Prediction for Autonomous Navigation in Occluded Environments

LiDAR Degradation Quantification for Autonomous Driving in Rain

Map-Aided Train Navigation with IMU Measurements

Minimizing Safety Interference for Safe and Comfortable Automated Driving with Distributional Reinforcement Learning

NavTuner Learning a Scene-Sensitive Family of Navigation Policies

On Fault Classification in Connected Autonomous Vehicles Using Output-Only Measurements

Online High-Level Model Estimation for Efficient Hierarchical Robot Navigation

Pallet Detection and Docking Strategy for Autonomous Pallet Truck AGV Operation

Reinforcement Learning Based Negotiation-Aware Motion Planning of Autonomous Vehicles

Road Graphical Neural Networks for Autonomous Roundabout Driving

Robust Policy Search for an Agile Ground Vehicle under Perception Uncertainty

Shape Estimation of Negative Obstacles for Autonomous Navigation

The Role of the Hercules Autonomous Vehicle During the COVID-19 Pandemic An Autonomous Logistic Vehicle for Contactless Goods Transportation

Unsupervised Traffic Scene Generation with Synthetic 3D Scene Graphs

Vulnerability of Connected Autonomous Vehicles Networks to Periodic Time-Varying Communication Delays of Certain Frequency

Modeling:

A High-Accuracy Framework for Vehicle Dynamic Modeling in Autonomous Driving

The Reasonable Crowd Towards Evidence-Based and Interpretable Models of Driving Behavior

Multi robot system:

Cooperative Transportation Robot System Using Risk-Sensitive Stochastic Control

Others:

Agent-Aware State Estimation for Autonomous Vehicles

Dynamic Lambda-Field A Counterpart of the Bayesian Occupancy Grid for Risk Assessment in Dynamic Environments

Finding Failures in High-Fidelity Simulation Using Adaptive Stress Testing and the Backward Algorithm

Gridlock-Free Autonomous Parking Lots for Autonomous Vehicles

StyleLess Layer Improving Robustness for Real-World Driving

Vehicle Dispatch in On-Demand Ride-Sharing with Stochastic Travel Times

Exploring Imitation Learning for Autonomous Driving with Feedback Synthesizer and Differentiable Rasterization