Related papers: M-BEV: Masked BEV Perception for Robust Autonomous…
Autonomous driving perceives its surroundings for decision making, which is one of the most complex scenarios in visual perception. The success of paradigm innovation in solving the 2D object detection task inspires us to seek an elegant,…
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…
Semantic Bird's Eye View (BEV) maps offer a rich representation with strong occlusion reasoning for various decision making tasks in autonomous driving. However, most BEV mapping approaches employ a fully supervised learning paradigm that…
Safe autonomous agents and mobile robots need fast real time 3D perception, especially for vulnerable road users (VRUs) such as pedestrians. We introduce a new bird's eye view (BEV) encoding, which maps the full 3D LiDAR point cloud into a…
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…
Multi-view camera-based 3D perception can be conducted using bird's eye view (BEV) features obtained through perspective view-to-BEV transformations. Several studies have shown that the performance of these 3D perception methods can be…
Accurate 3D bird's-eye view (BEV) object detection is essential for autonomous driving, and depends strongly on effective multimodal representations from complementary sensors such as cameras and LiDAR. Multimodal masked autoencoders have…
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…
Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent scale information from monocular cameras. Traditional methods…
Autonomous driving systems face significant challenges in perceiving complex environments and making real-time decisions. Traditional modular approaches, while offering interpretability, suffer from error propagation and coordination…
Camera-only Bird's Eye View (BEV) has demonstrated great potential in environment perception in a 3D space. However, most existing studies were conducted under a supervised setup which cannot scale well while handling various new data.…
Recent vision-only perception models for autonomous driving achieved promising results by encoding multi-view image features into Bird's-Eye-View (BEV) space. A critical step and the main bottleneck of these methods is transforming image…
While most recent autonomous driving system focuses on developing perception methods on ego-vehicle sensors, people tend to overlook an alternative approach to leverage intelligent roadside cameras to extend the perception ability beyond…
Bird's-eye view (BEV) maps are an important geometrically structured representation widely used in robotics, in particular self-driving vehicles and terrestrial robots. Existing algorithms either require depth information for the geometric…
Bird's Eye View (BEV) representations are tremendously useful for perception-related automated driving tasks. However, generating BEVs from surround-view fisheye camera images is challenging due to the strong distortions introduced by such…
Three-dimensional object detection is one of the key tasks in autonomous driving. To reduce costs in practice, low-cost multi-view cameras for 3D object detection are proposed to replace the expansive LiDAR sensors. However, relying solely…
Bird's-eye-view (BEV) semantic segmentation is becoming crucial in autonomous driving systems. It realizes ego-vehicle surrounding environment perception by projecting 2D multi-view images into 3D world space. Recently, BEV segmentation has…
Bird's Eye View (BEV) semantic maps have recently garnered a lot of attention as a useful representation of the environment to tackle assisted and autonomous driving tasks. However, most of the existing work focuses on the fully supervised…
Autonomous driving requires accurate reasoning of the location of objects from raw sensor data. Recent end-to-end learning methods go from raw sensor data to a trajectory output via Bird's Eye View(BEV) segmentation as an interpretable…
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…