What Really Matters for Robust Multi-Sensor HD Map Construction?

High-definition (HD) map construction methods are crucial for providing precise and comprehensive static environmental information, which is essential for autonomous driving systems. While Camera-LiDAR fusion techniques have shown promising results by integrating data from both modalities, existing approaches primarily focus on improving model accuracy and often neglect the robustness of perception models, which is a critical aspect for real-world applications. In this paper, we explore strategies to enhance the robustness of multi-modal fusion methods for HD map construction while maintaining high accuracy. We propose three key components: data augmentation, a novel multi-modal fusion module, and a modality dropout training strategy. These components are evaluated on a challenging dataset containing 10 days of NuScenes data. Our experimental results demonstrate that our proposed methods significantly enhance the robustness of baseline methods. Furthermore, our approach achieves state-of-the-art performance on the clean validation set of the NuScenes dataset. Our findings provide valuable insights for developing more robust and reliable HD map construction models, advancing their applicability in real-world autonomous driving scenarios. Project website: https://robomap-123.github.io.

A Clinical-oriented Multi-level Contrastive Learning Method for Disease Diagnosis in Low-quality Medical Images

Representation learning offers a conduit to elucidate distinctive features within the latent space and interpret the deep models. However, the randomness of lesion distribution and the complexity of low-quality factors in medical images pose great challenges for models to extract key lesion features. Disease diagnosis methods guided by contrastive learning (CL) have shown significant advantages in lesion feature representation. Nevertheless, the effectiveness of CL is highly dependent on the quality of the positive and negative sample pairs. In this work, we propose a clinical-oriented multi-level CL framework that aims to enhance the model's capacity to extract lesion features and discriminate between lesion and low-quality factors, thereby enabling more accurate disease diagnosis from low-quality medical images. Specifically, we first construct multi-level positive and negative pairs to enhance the model's comprehensive recognition capability of lesion features by integrating information from different levels and qualities of medical images. Moreover, to improve the quality of the learned lesion embeddings, we introduce a dynamic hard sample mining method based on self-paced learning. The proposed CL framework is validated on two public medical image datasets, EyeQ and Chest X-ray, demonstrating superior performance compared to other state-of-the-art disease diagnostic methods.