arXiv subjects

Hyeonjun Jeong

Publications and source records attributed to Hyeonjun Jeong.

6 recordsLinked to original sources

arXiv2026

MapTCL: Temporal Consistency Learning via Bidirectional Alignment for Vectorized HD Map Construction

Constructing reliable online HD maps remains challenging in dynamic urban environments due to moving objects and occlusions. While recent works employ feature-level temporal fusion to address this, they rely solely on per-frame ground truth supervision. Consequently, they lack an explicit objective to directly penalize the geometric noise and temporal jitter between consecutive online HD maps. To address this, we propose MapTCL, an auxiliary training strategy that formulates temporal consistency loss between current and past frames via bidirectional alignment. Specifically, Bidirectional Vector Consistency Learning (BVCL) models the geometric and semantic discrepancies between associated past and current vector instances as an auxiliary loss. We also employ Raster map Consistency Learning (RCL) as an additional loss to stabilize dense BEV features. By jointly training with these dual losses, MapTCL improves the temporal stability of generated HD maps. Extensive experiments on two standard benchmarks demonstrate the effectiveness of our approach. As a versatile plug-and-play module, MapTCL consistently enhances existing baseline models, achieving gains of +3.7 mAP & +2.8 C-mAP on nuScenes and +3.1 mAP & +2.5 C-mAP on Argoverse 2 without additional inference overhead.

cs.CV↗

arXiv2026

To View Transform or Not to View Transform: NeRF-based Pre-training Perspective

Neural radiance fields (NeRFs) have emerged as a prominent pre-training paradigm for vision-centric autonomous driving, which enhances 3D geometry and appearance understanding in a fully self-supervised manner. To apply NeRF-based pretraining to 3D perception models, recent approaches have simply applied NeRFs to volumetric features obtained from view transformation. However, coupling NeRFs with view transformation inherits conflicting priors; view transformation imposes discrete and rigid representations, whereas radiance fields assume continuous and adaptive functions. When these opposing assumptions are forced into a single pipeline, the misalignment surfaces as blurry and ambiguous 3D representations that ultimately limit 3D scene understanding. Moreover, the NeRF network for pre-training is discarded during downstream tasks, resulting in inefficient utilization of enhanced 3D representations through NeRF. In this paper, we propose a novel NeRF-Resembled Point-based 3D detector that can learn continuous 3D representation and thus avoid the misaligned priors from view transformation. NeRP3D preserves the pre-trained NeRF network regardless of the tasks, inheriting the principle of continuous 3D representation learning and leading to greater potentials for both scene reconstruction and detection tasks. Experiments on nuScenes dataset demonstrate that our proposed approach significantly improves previous state-of-the-art methods, outperforming not only pretext scene reconstruction tasks but also downstream detection tasks.

cs.CV↗

arXiv2026

The RoboSense Challenge: Sense Anything, Navigate Anywhere, Adapt Across Platforms

Autonomous systems are increasingly deployed in open and dynamic environments -- from city streets to aerial and indoor spaces -- where perception models must remain reliable under sensor noise, environmental variation, and platform shifts. However, even state-of-the-art methods often degrade under unseen conditions, highlighting the need for robust and generalizable robot sensing. The RoboSense 2025 Challenge is designed to advance robustness and adaptability in robot perception across diverse sensing scenarios. It unifies five complementary research tracks spanning language-grounded decision making, socially compliant navigation, sensor configuration generalization, cross-view and cross-modal correspondence, and cross-platform 3D perception. Together, these tasks form a comprehensive benchmark for evaluating real-world sensing reliability under domain shifts, sensor failures, and platform discrepancies. RoboSense 2025 provides standardized datasets, baseline models, and unified evaluation protocols, enabling large-scale and reproducible comparison of robust perception methods. The challenge attracted 143 teams from 85 institutions across 16 countries, reflecting broad community engagement. By consolidating insights from 23 winning solutions, this report highlights emerging methodological trends, shared design principles, and open challenges across all tracks, marking a step toward building robots that can sense reliably, act robustly, and adapt across platforms in real-world environments.

cs.RO↗

arXiv2025

REOcc: Camera-Radar Fusion with Radar Feature Enrichment for 3D Occupancy Prediction

Vision-based 3D occupancy prediction has made significant advancements, but its reliance on cameras alone struggles in challenging environments. This limitation has driven the adoption of sensor fusion, among which camera-radar fusion stands out as a promising solution due to their complementary strengths. However, the sparsity and noise of the radar data limits its effectiveness, leading to suboptimal fusion performance. In this paper, we propose REOcc, a novel camera-radar fusion network designed to enrich radar feature representations for 3D occupancy prediction. Our approach introduces two main components, a Radar Densifier and a Radar Amplifier, which refine radar features by integrating spatial and contextual information, effectively enhancing spatial density and quality. Extensive experiments on the Occ3D-nuScenes benchmark demonstrate that REOcc achieves significant performance gains over the camera-only baseline model, particularly in dynamic object classes. These results underscore REOcc's capability to mitigate the sparsity and noise of the radar data. Consequently, radar complements camera data more effectively, unlocking the full potential of camera-radar fusion for robust and reliable 3D occupancy prediction.

cs.CV↗

arXiv2024

InstaGraM: Instance-level Graph Modeling for Vectorized HD Map Learning

For scalable autonomous driving, a robust map-based localization system, independent of GPS, is fundamental. To achieve such map-based localization, online high-definition (HD) map construction plays a significant role in accurate estimation of the pose. Although recent advancements in online HD map construction have predominantly investigated on vectorized representation due to its effectiveness, they suffer from computational cost and fixed parametric model, which limit scalability. To alleviate these limitations, we propose a novel HD map learning framework that leverages graph modeling. This framework is designed to learn the construction of diverse geometric shapes, thereby enhancing the scalability of HD map construction. Our approach involves representing the map elements as an instance-level graph by decomposing them into vertices and edges to facilitate accurate and efficient end-to-end vectorized HD map learning. Furthermore, we introduce an association strategy using a Graph Neural Network to efficiently handle the complex geometry of various map elements, while maintaining scalability. Comprehensive experiments on public open dataset show that our proposed network outperforms state-of-the-art model by $1.6$ mAP. We further showcase the superior scalability of our approach compared to state-of-the-art methods, achieving a $4.8$ mAP improvement in long range configuration. Our code is available at https://github.com/juyebshin/InstaGraM.

cs.CV↗

arXiv2024

LabelDistill: Label-guided Cross-modal Knowledge Distillation for Camera-based 3D Object Detection

Recent advancements in camera-based 3D object detection have introduced cross-modal knowledge distillation to bridge the performance gap with LiDAR 3D detectors, leveraging the precise geometric information in LiDAR point clouds. However, existing cross-modal knowledge distillation methods tend to overlook the inherent imperfections of LiDAR, such as the ambiguity of measurements on distant or occluded objects, which should not be transferred to the image detector. To mitigate these imperfections in LiDAR teacher, we propose a novel method that leverages aleatoric uncertainty-free features from ground truth labels. In contrast to conventional label guidance approaches, we approximate the inverse function of the teacher's head to effectively embed label inputs into feature space. This approach provides additional accurate guidance alongside LiDAR teacher, thereby boosting the performance of the image detector. Additionally, we introduce feature partitioning, which effectively transfers knowledge from the teacher modality while preserving the distinctive features of the student, thereby maximizing the potential of both modalities. Experimental results demonstrate that our approach improves mAP and NDS by 5.1 points and 4.9 points compared to the baseline model, proving the effectiveness of our approach. The code is available at https://github.com/sanmin0312/LabelDistill

cs.CV↗