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Multi-sensor modal fusion has demonstrated strong advantages in 3D object detection tasks. However, existing methods that fuse multi-modal features require transforming features into the bird's eye view space and may lose certain…

The 3D visual perception for vehicles with the surround-view fisheye camera system is a critical and challenging task for low-cost urban autonomous driving. While existing monocular 3D object detection methods perform not well enough on the…

Semantic segmentation is an effective way to perform scene understanding. Recently, segmentation in 3D Bird's Eye View (BEV) space has become popular as its directly used by drive policy. However, there is limited work on BEV segmentation…

Vision transformer (ViT) has been widely applied in many areas due to its self-attention mechanism that help obtain the global receptive field since the first layer. It even achieves surprising performance exceeding CNN in some vision…

The transformation of features from 2D perspective space to 3D space is essential to multi-view 3D object detection. Recent approaches mainly focus on the design of view transformation, either pixel-wisely lifting perspective view features…

Accurate motion understanding of the dynamic objects within the scene in bird's-eye-view (BEV) is critical to ensure a reliable obstacle avoidance system and smooth path planning for autonomous vehicles. However, this task has received…

Bird's-eye-view (BEV) grid is a common representation for the perception of road components, e.g., drivable area, in autonomous driving. Most existing approaches rely on cameras only to perform segmentation in BEV space, which is…

In recent years, vision-centric Bird's Eye View (BEV) perception has garnered significant interest from both industry and academia due to its inherent advantages, such as providing an intuitive representation of the world and being…

Multi-agent collaborative perception has emerged as a widely recognized technology in the field of autonomous driving in recent years. However, current collaborative perception predominantly relies on LiDAR point clouds, with significantly…

Bird's-eye view (BEV) perception has garnered significant attention in autonomous driving in recent years, in part because BEV representation facilitates multi-modal sensor fusion. BEV representation enables a variety of perception tasks…

Camera-based 3D object detection and tracking are central to autonomous driving, yet precise 3D object localization remains fundamentally constrained by depth ambiguity when no expensive, depth-rich online LiDAR is available at inference.…

Semantic segmentation in bird's eye view (BEV) plays a crucial role in autonomous driving. Previous methods usually follow an end-to-end pipeline, directly predicting the BEV segmentation map from monocular RGB inputs. However, the…

The integration of Large Language Models (LLMs) into autonomous driving has attracted growing interest for their strong reasoning and semantic understanding abilities, which are essential for handling complex decision-making and long-tail…

This paper introduces BEV-VLM, a novel approach for trajectory planning in autonomous driving that leverages Vision-Language Models (VLMs) with Bird's-Eye View (BEV) feature maps as visual input. Unlike conventional trajectory planning…

Achieving robust and real-time 3D perception is fundamental for autonomous vehicles. While most existing 3D perception methods prioritize detection accuracy, they often overlook critical aspects such as computational efficiency, onboard…

As bird's-eye-view (BEV) semantic segmentation is simple-to-visualize and easy-to-handle, it has been applied in autonomous driving to provide the surrounding information to downstream tasks. Inferring BEV semantic segmentation conditioned…

Multimodal sensor fusion has demonstrated remarkable performance improvements over unimodal approaches in 3D object detection for autonomous vehicles. Typically, existing methods transform multimodal data from independent sensors, such as…

Moving object detection and segmentation is an essential task in the Autonomous Driving pipeline. Detecting and isolating static and moving components of a vehicle's surroundings are particularly crucial in path planning and localization…

While LiDAR sensors have been successfully applied to 3D object detection, the affordability of radar and camera sensors has led to a growing interest in fusing radars and cameras for 3D object detection. However, previous radar-camera…

Detection of moving objects is a very important task in autonomous driving systems. After the perception phase, motion planning is typically performed in Bird's Eye View (BEV) space. This would require projection of objects detected on the…