AutoDrive Papers

Recent advances in 4D radar enable robust perception in adverse weather; however, the inherent sparsity, noise, and limited positional precision of radar point clouds pose significant challenges for registration-based odometry. In this letter, we propose RaDiVe, a 4D radar odometry framework designed to improve the accuracy and robustness of radar point-cloud registration. We introduce a distance-bounded Normal Distributions Transform (NDT), which improves optimization stability and computational efficiency by restricting the correspondence search to near-distance voxel pairs. To mitigate measurement ambiguity, we propose a velocity-discrepancy point uncertainty model that weights each input 4D radar point according to the discrepancy between its measured Doppler radial velocity and the radial velocity predicted from the estimated ego-velocity. Furthermore, we incorporate Signed Distance Function (SDF)-based surface point extraction via implicit neural mapping to construct a geometrically consistent and noise-filtered local submap. Evaluations across multiple public datasets demonstrate that RaDiVe outperforms existing 4D radar odometry baselines by 44.4% in translational Absolute Trajectory Error (ATE) and 21.3% in rotational ATE on average, while maintaining real-time performance. The source code will be made publicly available to the robotics community: https://github.com/to-be-open-sourced.

Semantic segmentation models are vulnerable to transferable adversarial perturbations, yet evaluating transfer attacks on dense prediction models can be computationally expensive. Existing ensemble attacks often rely on multiple surrogate models, increasing the computation cost, even harder for segmentation. This paper studies an efficient single-source alternative for transferable attacks on semantic segmentation. We formulate transferable attack composition as a chained computation over differentiable attack components, allowing the expensive source-model gradient computation to be shared. To reduce the update instability introduced by chained composition, we further use an integrated-gradient-style path-averaged direction as an empirical stabilization heuristic. Experiments on Pascal VOC and Cityscapes evaluate the resulting transferability efficiency trade-off across CNN- and transformer-based segmentation models. IGME achieves competitive transferability compared with single-source baselines and favorable runtime compared with model-ensemble attacks, while requiring access to only one source model.

Real-time anomaly segmentation is essential for the safety of autonomous systems. Although recent approaches offer high accuracy, their computational cost limits their deployment on embedded hardware. This work presents an efficient and accelerated pipeline designed for both embedded and desktop platforms, targeting the autonomous driving and railway domains. The proposed approach reformulates the Neyman-Pearson scoring stage of PixOOD, a state-of-the-art out-of-distribution detection method, and deploys the full pipeline through hardware-optimized TensorRT compilation, reaching up to 182 FPS on a desktop NVIDIA RTX 4060 GPU and 75 FPS on the NVIDIA Jetson AGX Orin embedded platform, respectively 20x and 18x faster than the original baseline. The achieved results demonstrate that advanced anomaly segmentation can be efficiently deployed for onboard processing in autonomous driving and railway applications.