Related papers: BEVSegFormer: Bird's Eye View Semantic Segmentatio…

Transforming image features from perspective view (PV) space to bird's-eye-view (BEV) space remains challenging in autonomous driving due to depth ambiguity and occlusion. Although several view transformation (VT) paradigms have been…

Event cameras, or Dynamic Vision Sensor (DVS), are very promising sensors which have shown several advantages over frame based cameras. However, most recent work on real applications of these cameras is focused on 3D reconstruction and…

The research advancements have made the neural network algorithms deployed in the autonomous vehicle to perceive the surrounding. The standard exteroceptive sensors that are utilized for the perception of the environment are cameras and…

We propose Radar-Camera fusion transformer (RaCFormer) to boost the accuracy of 3D object detection by the following insight. The Radar-Camera fusion in outdoor 3D scene perception is capped by the image-to-BEV transformation--if the depth…

Augmented Reality (AR) devices, emerging as prominent mobile interaction platforms, face challenges in user safety, particularly concerning oncoming vehicles. While some solutions leverage onboard camera arrays, these cameras often have…

Bird's-eye-view (BEV) map layout estimation requires an accurate and full understanding of the semantics for the environmental elements around the ego car to make the results coherent and realistic. Due to the challenges posed by occlusion,…

Semantic map construction under bird's-eye view (BEV) plays an essential role in autonomous driving. In contrast to camera image, LiDAR provides the accurate 3D observations to project the captured 3D features onto BEV space inherently.…

In this paper, we present a multi-class eye segmentation method that can run the hardware limitations for real-time inference. Our approach includes three major stages: get a grayscale image from the input, segment three distinct eye region…

This paper investigates the advantages of using Bird's Eye View (BEV) representation in 360-degree visual place recognition (VPR). We propose a novel network architecture that utilizes the BEV representation in feature extraction, feature…

Using synthesized images to boost the performance of perception models is a long-standing research challenge in computer vision. It becomes more eminent in visual-centric autonomous driving systems with multi-view cameras as some long-tail…

Bird's-Eye-View (BEV) perception has become a foundational paradigm in autonomous driving, enabling unified spatial representations that support robust multi-sensor fusion and multi-agent collaboration. As autonomous vehicles transition…

The recent advances in query-based multi-camera 3D object detection are featured by initializing object queries in the 3D space, and then sampling features from perspective-view images to perform multi-round query refinement. In such a…

Multi-modal sensor fusion in Bird's Eye View (BEV) representation has become the leading approach for 3D object detection. However, existing methods often rely on depth estimators or transformer encoders to transform image features into BEV…

In current research, Bird's-Eye-View (BEV)-based transformers are increasingly utilized for multi-camera 3D object detection. Traditional models often employ random queries as anchors, optimizing them successively. Recent advancements…

Multi-view image generation in autonomous driving demands consistent 3D scene understanding across camera views. Most existing methods treat this problem as a 2D image set generation task, lacking explicit 3D modeling. However, we argue…

We present BEVCon, a simple yet effective contrastive learning framework designed to improve Bird's Eye View (BEV) perception in autonomous driving. BEV perception offers a top-down-view representation of the surrounding environment, making…

Bird's-Eye-View (BEV) 3D Object Detection is a crucial multi-view technique for autonomous driving systems. Recently, plenty of works are proposed, following a similar paradigm consisting of three essential components, i.e., camera feature…

Existing LiDAR-based 3D object detection methods for autonomous driving scenarios mainly adopt the training-from-scratch paradigm. Unfortunately, this paradigm heavily relies on large-scale labeled data, whose collection can be expensive…

Semantic segmentation using deep neural networks has been widely explored to generate high-level contextual information for autonomous vehicles. To acquire a complete $180^\circ$ semantic understanding of the forward surroundings, we…

Although multiview fusion has demonstrated potential in LiDAR segmentation, its dependence on computationally intensive point-based interactions, arising from the lack of fixed correspondences between views such as range view and Bird's-Eye…