Related papers: HeightLane: BEV Heightmap guided 3D Lane Detection

Monocular 3D human pose estimation remains a challenging and ill-posed problem, particularly in real-time settings and unconstrained environments. While direct imageto-3D approaches require large annotated datasets and heavy models,…

3D object detection from LiDAR data for autonomous driving has been making remarkable strides in recent years. Among the state-of-the-art methodologies, encoding point clouds into a bird's eye view (BEV) has been demonstrated to be both…

Cross-view geo-localization confronts significant challenges due to large perspective changes, especially when the ground-view query image has a limited field of view with unknown orientation. To bridge the cross-view domain gap, we for the…

Monocular 3D object detection is of great significance for autonomous driving but remains challenging. The core challenge is to predict the distance of objects in the absence of explicit depth information. Unlike regressing the distance as…

Building height estimation is important in many applications such as 3D city reconstruction, urban planning, and navigation. Recently, a new building height estimation method using street scene images and 2D maps was proposed. This method…

The Bird's-Eye-View (BEV) representation is a critical factor that directly impacts the 3D object detection performance, but the traditional BEV grid representation induces quadratic computational cost as the spatial resolution grows. To…

We present a simple yet effective fully convolutional one-stage 3D object detector for LiDAR point clouds of autonomous driving scenes, termed FCOS-LiDAR. Unlike the dominant methods that use the bird-eye view (BEV), our proposed detector…

Single camera 3D perception for traffic monitoring faces significant challenges due to occlusion and limited field of view. Moreover, fusing information from multiple cameras at the image feature level is difficult because of different view…

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…

In current research, Bird's-Eye-View (BEV)-based transformers are increasingly utilized for multi-camera 3D object detection. Traditional models often employ random queries as anchors, optimizing them successively. Recent advancements…

Depth estimation, visual odometry (VO), and bird's-eye-view (BEV) scene layout estimation present three critical tasks for driving scene perception, which is fundamental for motion planning and navigation in autonomous driving. Though they…

3D geo-information is of great significance for understanding the living environment; however, 3D perception from remote sensing data, especially on a large scale, is restricted. To tackle this problem, we propose a method for monocular…

Autonomous navigation requires scene understanding of the action-space to move or anticipate events. For planner agents moving on the ground plane, such as autonomous vehicles, this translates to scene understanding in the bird's-eye view…

Accurate 3D object detection is essential for automated vehicles to navigate safely in complex real-world environments. Bird's Eye View (BEV) representations, which project multi-sensor data into a top-down spatial format, have emerged as a…

Detecting lane lines from sensors is becoming an increasingly significant part of autonomous driving systems. However, less development has been made on high-definition lane-level mapping based on aerial images, which could automatically…

Ground to aerial matching is a crucial and challenging task in outdoor robotics, particularly when GPS is absent or unreliable. Structures like buildings or large dense forests create interference, requiring GNSS replacements for global…

As a crucial task of autonomous driving, 3D object detection has made great progress in recent years. However, monocular 3D object detection remains a challenging problem due to the unsatisfactory performance in depth estimation. Most…

Camera-radar fusion offers a robust and low-cost alternative to Camera-lidar fusion for the 3D object detection task in real-time under adverse weather and lighting conditions. However, currently, in the literature, it is possible to find…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

Recent advances in monocular 3D detection leverage a depth estimation network explicitly as an intermediate stage of the 3D detection network. Depth map approaches yield more accurate depth to objects than other methods thanks to the depth…