Related papers: Bi-Mapper: Holistic BEV Semantic Mapping for Auton…
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.…
Despite tremendous advancements in bird's-eye view (BEV) perception, existing models fall short in generating realistic and coherent semantic map layouts, and they fail to account for uncertainties arising from partial sensor information…
Constructing high-definition (HD) maps from sensory input requires accurately mapping the road elements in image space to the Bird's Eye View (BEV) space. The precision of this mapping directly impacts the quality of the final vectorized HD…
Understanding road scenes in a geometrically consistent, scene-centric representation is crucial for planning and mapping. We present GOLD-BEV, a framework that learns dense bird's-eye-view (BEV) semantic environment maps-including dynamic…
Bird's-Eye-View (BEV) perception serves as a cornerstone for autonomous driving, offering a unified spatial representation that fuses surrounding-view images to enable reasoning for various downstream tasks, such as semantic segmentation,…
Recent advances in high-definition (HD) map construction from surround-view images have highlighted their cost-effectiveness in deployment. However, prevailing techniques often fall short in accurately extracting and utilizing road…
Bird's-Eye View (BEV) maps provide a structured, top-down abstraction that is crucial for autonomous-driving perception. In this work, we employ Cross-View Transformers (CVT) for learning to map camera images to three BEV's channels - road,…
World models have attracted increasing attention in autonomous driving for their ability to forecast potential future scenarios. In this paper, we propose BEVWorld, a novel framework that transforms multimodal sensor inputs into a unified…
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…
Spatial understanding of the semantics of the surroundings is a key capability needed by autonomous cars to enable safe driving decisions. Recently, purely vision-based solutions have gained increasing research interest. In particular,…
Autonomous driving requires accurate scene understanding, including road geometry, traffic agents, and their semantic relationships. In online HD map generation scenarios, raster-based representations are well-suited to vision models but…
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…
3D visual perception tasks, including 3D detection and map segmentation based on multi-camera images, are essential for autonomous driving systems. In this work, we present a new framework termed BEVFormer, which learns unified BEV…
Bird's-eye-view (BEV) grid is a typical representation of 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…
Vector maps are essential in autonomous driving for tasks like localization and planning, yet their creation and maintenance are notably costly. While recent advances in online vector map generation for autonomous vehicles are promising,…
In the field of autonomous driving and mobile robotics, there has been a significant shift in the methods used to create Bird's Eye View (BEV) representations. This shift is characterised by using transformers and learning to fuse…
Autonomous off-road navigation requires an accurate semantic understanding of the environment, often converted into a bird's-eye view (BEV) representation for various downstream tasks. While learning-based methods have shown success in…
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…
Recently, the pure camera-based Bird's-Eye-View (BEV) perception provides a feasible solution for economical autonomous driving. However, the existing BEV-based multi-view 3D detectors generally transform all image features into BEV…
Bird's-Eye-View (BEV) is critical to connected and automated vehicles (CAVs) as it can provide unified and precise representation of vehicular surroundings. However, quality of the raw sensing data may degrade in occluded or distant…