PreSight: Enhancing Autonomous Vehicle Perception with City-Scale NeRF Priors

arXiv:2403.09079v1 Announce Type: new
Abstract: Autonomous vehicles rely extensively on perception systems to navigate and interpret their surroundings. Despite significant advancements in these systems recently, challenges persist under conditions like occlusion, extreme lighting, or in unfamiliar urban areas. Unlike these systems, humans do not solely depend on immediate observations to perceive the environment. In navigating new cities, humans gradually develop a preliminary mental map to supplement real-time perception during subsequent visits. Inspired by this human approach, we introduce a novel …

arxiv autonomous autonomous vehicle city cs.cv nerf perception scale type