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The perception systems of autonomous vehicles face significant challenges under adverse conditions, with issues such as obscured objects and false detections due to environmental noise. Traditional approaches, which typically focus on noise removal, often fall short in such scenarios. Addressing the lack of diverse adverse weather data in existing automotive datasets, we propose a novel data augmentation method that integrates realistically simulated adverse weather effects into clear condition datasets. This method not only addresses the scarcity of data but also effectively bridges domain gaps between different driving environments. Our approach centers on a conditional generative model that uses segmentation maps as a guiding mechanism to ensure the authentic generation of adverse effects, which greatly enhances the robustness of perception and object detection systems in autonomous vehicles, operating under varied and challenging conditions. Besides the capability of accurately and naturally recreating over 90% of the adverse effects, we demonstrate that this model significantly improves the performance and accuracy of deep learning algorithms for autonomous driving, particularly in adverse weather scenarios. In the experiments employing our augmented approach, we achieved a 2.46% raise in the 3D average precision, a marked enhancement in detection accuracy and system reliability, substantiating the model's efficacy with quantifiable improvements in 3D object detection compared to models without augmentation. This work not only serves as an enhancement of autonomous vehicle perception systems under adverse conditions but also marked an advancement in deep learning models in adverse condition research. [ABSTRACT FROM AUTHOR]

Transformer-based models have gained popularity in the field of natural language processing (NLP) and are extensively utilized in computer vision tasks and multi-modal models such as GPT4. This paper presents a novel method to enhance the explainability of transformer-based image classification models. Our method aims to improve trust in classification results and empower users to gain a deeper understanding of the model for downstream tasks by providing visualizations of class-specific maps. We introduce two modules: the "Relationship Weighted Out" and the "Cut" modules. The "Relationship Weighted Out" module focuses on extracting class-specific information from intermediate layers, enabling us to highlight relevant features. Additionally, the "Cut" module performs fine-grained feature decomposition, taking into account factors such as position, texture, and color. By integrating these modules, we generate dense class-specific visual explainability maps. We validate our method with extensive qualitative and quantitative experiments on the ImageNet dataset. Furthermore, we conduct a large number of experiments on the LRN dataset, which is specifically designed for automatic driving danger alerts, to evaluate the explainability of our method in scenarios with complex backgrounds. The results demonstrate a significant improvement over previous methods. Moreover, we conduct ablation experiments to validate the effectiveness of each module. Through these experiments, we are able to confirm the respective contributions of each module, thus solidifying the overall effectiveness of our proposed approach. [ABSTRACT FROM AUTHOR]

Aiming at the problem that the existing models have a poor segmentation effect on imbalanced data sets with small‐scale samples, a bilateral U‐Net network model with a spatial attention mechanism is designed. The model uses the lightweight MobileNetV2 as the backbone network for feature hierarchical extraction and proposes an Attentive Pyramid Spatial Attention (APSA) module compared to the Attenuated Spatial Pyramid module, which can increase the receptive field and enhance the information, and finally adds the context fusion prediction branch that fuses high‐semantic and low‐semantic prediction results, and the model effectively improves the segmentation accuracy of small data sets. The experimental results on the CamVid data set show that compared with some existing semantic segmentation networks, the algorithm has a better segmentation effect and segmentation accuracy, and its mIOU reaches 75.85%. Moreover, to verify the generality of the model and the effectiveness of the APSA module, experiments were conducted on the VOC 2012 data set, and the APSA module improved mIOU by about 12.2%. [ABSTRACT FROM AUTHOR]