Related papers: RopeBEV: A Multi-Camera Roadside Perception Networ…

Many tasks performed by autonomous vehicles such as road marking detection, object tracking, and path planning are simpler in bird's-eye view. Hence, Inverse Perspective Mapping (IPM) is often applied to remove the perspective effect from a…

Bird's-eye-view (BEV) representations derived from multi-camera input have become a central interface for online high-definition (HD) map construction. However, most approaches rely solely on ego-centric supervision, requiring large-scale…

Due to the trending need of building autonomous robotic perception system, sensor fusion has attracted a lot of attention amongst researchers and engineers to make best use of cross-modality information. However, in order to build a robotic…

A semantic map of the road scene, covering fundamental road elements, is an essential ingredient in autonomous driving systems. It provides important perception foundations for positioning and planning when rendered in the Bird's-Eye-View…

Multi-sensor object detection is an active research topic in automated driving, but the robustness of such detection models against missing sensor input (modality missing), e.g., due to a sudden sensor failure, is a critical problem which…

Localization in GNSS-denied and GNSS-degraded environments is a challenge for the safe widespread deployment of autonomous vehicles. Such GNSS-challenged environments require alternative methods for robust localization. In this work, we…

BEV-based 3D perception has emerged as a focal point of research in end-to-end autonomous driving. However, existing BEV approaches encounter significant challenges due to the large feature space, complicating efficient modeling and…

Beam prediction is critical for reducing beam-training overhead in millimeter-wave (mmWave) systems, especially in high-mobility vehicular scenarios. This paper presents a BEV-Fusion based framework that unifies camera, LiDAR, radar, and…

Achieving reliable and safe autonomous driving in off-road environments requires accurate and efficient terrain traversability analysis. However, this task faces several challenges, including the scarcity of large-scale datasets tailored…

This paper proposes an efficient multi-camera to Bird's-Eye-View (BEV) view transformation method for 3D perception, dubbed MatrixVT. Existing view transformers either suffer from poor transformation efficiency or rely on device-specific…

While bird's-eye-view (BEV) perception models can be useful for building high-definition maps (HD-Maps) with less human labor, their results are often unreliable and demonstrate noticeable inconsistencies in the predicted HD-Maps from…

Semantic segmentation in bird's eye view (BEV) plays a crucial role in autonomous driving. Previous methods usually follow an end-to-end pipeline, directly predicting the BEV segmentation map from monocular RGB inputs. However, the…

Birds' Eye View (BEV) semantic segmentation is an indispensable perception task in end-to-end autonomous driving systems. Unsupervised and semi-supervised learning for BEV tasks, as pivotal for real-world applications, underperform due to…

Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. However, the absence of accurate and automated registration…

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…

Simultaneous perception of 2D objects in perspective view and 3D objects in Bird's Eye View (BEV) is challenging for multi-camera autonomous driving. Existing two-stage pipelines use 2D results only as a one-time cue for 3D detection. We…

Multi-sensor fusion is essential for an accurate and reliable autonomous driving system. Recent approaches are based on point-level fusion: augmenting the LiDAR point cloud with camera features. However, the camera-to-LiDAR projection…

We present the first cross-modality distillation framework specifically tailored for single-panoramic-camera Bird's-Eye-View (BEV) segmentation. Our approach leverages a novel LiDAR image representation fused from range, intensity and…

Cooperative perception is critical for autonomous driving, overcoming the inherent limitations of a single vehicle, such as occlusions and constrained fields-of-view. However, current approaches sharing dense Bird's-Eye-View (BEV) features…

Effective BEV object detection on infrastructure can greatly improve traffic scenes understanding and vehicle-toinfrastructure (V2I) cooperative perception. However, cameras installed on infrastructure have various postures, and previous…