A significant portion of roads, particularly in densely populated developing countries, lacks explicitly defined right-of-way rules. These understructured roads pose substantial challenges for autonomous vehicle motion planning, where efficient and safe navigation relies on understanding decentralized human coordination for collision avoidance. This coordination, often termed “social driving etiquette,” remains underexplored due to limited open-source empirical data and suitable modeling frameworks. In this paper, we present a novel dataset and modeling framework designed to study motion planning in these understructured environments. The dataset includes 20 aerial videos of representative scenarios, an image dataset for training vehicle detection models, and a development kit for vehicle trajectory estimation. We demonstrate that a consensus-based modeling approach can effectively explain the emergence of priority orders observed in our dataset, and is therefore a viable framework for decentralized collision avoidance planning.

Although deep networks-based 3D reconstruction methods can recover the 3D geometry given few inputs, they may produce unfaithful reconstruction when predicting occluded parts of 3D objects. To address the issue, we propose Detail-Enhanced Generative Adversarial Network (DEGAN) which consists of Encoder–Decoder-Based Generator (EDGen) and Voxel-Point Embedding Network-Based Discriminator (VPDis) for 3D reconstruction from a monocular depth image of an object. Firstly, EDGen decodes the features from the 2.5D voxel grid representation of an input depth image and generates the 3D occupancy grid under GAN losses and a sampling point loss. The sampling loss can improve the accuracy of predicted points with high uncertainty. VPDis helps reconstruct the details under voxel and point adversarial losses, respectively. Experimental results show that DEGAN not only outperforms several state-of-the-art methods on both public ModelNet and ShapeNet datasets but also predicts more reliable occluded/missing parts of 3D objects.

Reconstructing 3D human mesh from monocular images has been extensively studied. However, the existing non-parametric reconstruction methods are inefficient when modeling vertex relationship concerning human information due to they generally adopt an uniform template mesh. To this end, this paper proposes a novel hypergraph-based human mesh hierarchical representation that enables the expression of vertices at body, parts, and vertices perspectives, corresponding to global, local and individual, respectively. And then a novel HyperGraph Attention-based human mesh reconstruction network ( HGaMRNet ) is put forward in turn, which mainly consists of two modules and can efficiently capture human information from different granularities of the mesh. Specifically, the first module, Body2Parts, decouples a body into local parts, and leverages Mix-Attention (MAT) based feature encoder to learn visual cues and semantic information of the parts for capturing complex human kinematic relationships from monocular images. The second module, Part2Vertices, transfers part features to the corresponding vertices through an adaptive incidence matrix , and utilizes a HyperGraph Attention network to update the vertex features. This is conductive to learning the fine-grained morphological information of a human mesh. All in one, supported by the hypergraph-based hierarchical representation of the human mesh, HGaMRNet balances the effects of neighbor vertex from different levels properly and eventually promotes the reconstruction accuracy of human mesh. Experiments conducted on both Human3.6M and 3DPW datasets show that HGaMRNet outperforms most of the existing image-based human mesh reconstruction methods.