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In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…

Visual intelligence at the edge is becoming a growing necessity for low latency applications and situations where real-time decision is vital. Object detection, the first step in visual data analytics, has enjoyed significant improvements…

In this paper, we propose M$^2$BEV, a unified framework that jointly performs 3D object detection and map segmentation in the Birds Eye View~(BEV) space with multi-camera image inputs. Unlike the majority of previous works which separately…

The Bird's-eye View (BeV) representation is widely used for 3D perception from multi-view camera images. It allows to merge features from different cameras into a common space, providing a unified representation of the 3D scene. The key…

Bird's Eye View (BEV) is a popular representation for processing 3D point clouds, and by its nature is fundamentally sparse. Motivated by the computational limitations of mobile robot platforms, we create a fast, high-performance BEV 3D…

Estimating a semantically segmented bird's-eye-view (BEV) map from a single image has become a popular technique for autonomous control and navigation. However, they show an increase in localization error with distance from the camera.…

LiDAR and camera are two essential sensors for 3D object detection in autonomous driving. LiDAR provides accurate and reliable 3D geometry information while the camera provides rich texture with color. Despite the increasing popularity of…

Building 3D perception systems for autonomous vehicles that do not rely on high-density LiDAR is a critical research problem because of the expense of LiDAR systems compared to cameras and other sensors. Recent research has developed a…

In this paper, we introduce a deep encoder-decoder network, named SalsaNet, for efficient semantic segmentation of 3D LiDAR point clouds. SalsaNet segments the road, i.e. drivable free-space, and vehicles in the scene by employing the…

Multi-camera perception methods in Bird's-Eye-View (BEV) have gained wide application in autonomous driving. However, due to the differences between roadside and vehicle-side scenarios, there currently lacks a multi-camera BEV solution in…

Vision-based Transformer have shown huge application in the perception module of autonomous driving in terms of predicting accurate 3D bounding boxes, owing to their strong capability in modeling long-range dependencies between the visual…

A fundamental bottleneck in Novel View Synthesis (NVS) for autonomous driving is the inherent supervision gap on novel trajectories: models are tasked with synthesizing unseen views during inference, yet lack ground truth images for these…

Autonomous driving requires efficient reasoning about the location and appearance of the different agents in the scene, which aids in downstream tasks such as object detection, object tracking, and path planning. The past few years have…

Point cloud data from 3D LiDAR sensors are one of the most crucial sensor modalities for versatile safety-critical applications such as self-driving vehicles. Since the annotations of point cloud data is an expensive and time-consuming…

Autonomous vehicles have limited computational resources and thus require efficient control systems. The cost and size of sensors have limited the development of self-driving cars. To overcome these restrictions, this study proposes an…

This article introduces BEVPlace++, a novel, fast, and robust LiDAR global localization method for unmanned ground vehicles. It uses lightweight convolutional neural networks (CNNs) on Bird's Eye View (BEV) image-like representations of…

The capability for open vocabulary perception represents a significant advancement in autonomous driving systems, facilitating the comprehension and interpretation of a wide array of textual inputs in real-time. Despite extensive research…

In advanced paradigms of autonomous driving, learning Bird's Eye View (BEV) representation from surrounding views is crucial for multi-task framework. However, existing methods based on depth estimation or camera-driven attention are not…

In this paper, we explore the use of vehicle-to-vehicle (V2V) communication to improve the perception and motion forecasting performance of self-driving vehicles. By intelligently aggregating the information received from multiple nearby…

Vision-based roadside 3D object detection has attracted rising attention in autonomous driving domain, since it encompasses inherent advantages in reducing blind spots and expanding perception range. While previous work mainly focuses on…