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Determining accurate bird's eye view (BEV) positions of objects and tracks in a scene is vital for various perception tasks including object interactions mapping, scenario extraction etc., however, the level of supervision required to…
A self-driving perception model aims to extract 3D semantic representations from multiple cameras collectively into the bird's-eye-view (BEV) coordinate frame of the ego car in order to ground downstream planner. Existing perception methods…
The bird's-eye-view (BEV) representation allows robust learning of multiple tasks for autonomous driving including road layout estimation and 3D object detection. However, contemporary methods for unified road layout estimation and 3D…
On-board 3D object detection in autonomous vehicles often relies on geometry information captured by LiDAR devices. Albeit image features are typically preferred for detection, numerous approaches take only spatial data as input. Exploiting…
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…
This paper presents ViewFormer, a simple yet effective model for multi-view 3d shape recognition and retrieval. We systematically investigate the existing methods for aggregating multi-view information and propose a novel ``view set"…
Learning Bird's Eye View (BEV) representation from surrounding-view cameras is of great importance for autonomous driving. In this work, we propose a Geometry-guided Kernel Transformer (GKT), a novel 2D-to-BEV representation learning…
The recent advance in multi-camera 3D object detection is featured by bird's-eye view (BEV) representation or object queries. However, the ill-posed transformation from image-plane view to 3D space inevitably causes feature clutter and…
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…
The on-board 3D object detection technology has received extensive attention as a critical technology for autonomous driving, while few studies have focused on applying roadside sensors in 3D traffic object detection. Existing studies…
4D millimeter-wave radar has emerged as a promising sensing modality for autonomous driving due to its robustness and affordability. However, its sparse and weak geometric cues make reliable instance activation difficult, limiting the…
Camera-based Bird's-Eye-View (BEV) perception often struggles between adopting 3D-to-2D or 2D-to-3D view transformation (VT). The 3D-to-2D VT typically employs resource-intensive Transformer to establish robust correspondences between 3D…
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…
In autonomous driving, accurate 3D lane detection using monocular cameras is important for downstream tasks. Recent CNN and Transformer approaches usually apply a two-stage model design. The first stage transforms the image feature from a…
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,…
In the landscape of autonomous driving, Bird's-Eye-View (BEV) representation has recently garnered substantial academic attention, serving as a transformative framework for the fusion of multi-modal sensor inputs. This BEV paradigm…
Leveraging multi-modal fusion, especially between camera and LiDAR, has become essential for building accurate and robust 3D object detection systems for autonomous vehicles. Until recently, point decorating approaches, in which point…
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…
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…
Accurate, fast, and reliable 3D perception is essential for autonomous driving. Recently, bird's-eye view (BEV)-based perception approaches have emerged as superior alternatives to perspective-based solutions, offering enhanced spatial…