SparseDrive: End-to-End Autonomous Driving via Sparse Scene Representation
SparseDrive unifies detection, tracking, online mapping, prediction, and planning with sparse scene representation, using a symmetric perception module, a parallel motion planner, and collision-aware rescoring for safe planning.
Wenchao Sun, Xuewu Lin, Yining ShiMay 30, 2024
BEVSparseDrivenuScenesMay 30, 2024