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Multi-agent collaborative perception has emerged as a widely recognized technology in the field of autonomous driving in recent years. However, current collaborative perception predominantly relies on LiDAR point clouds, with significantly…

Realizing unified 3D object detection, including both indoor and outdoor scenes, holds great importance in applications like robot navigation. However, involving various scenarios of data to train models poses challenges due to their…

The field of autonomous driving has attracted considerable interest in approaches that directly infer 3D objects in the Bird's Eye View (BEV) from multiple cameras. Some attempts have also explored utilizing 2D detectors from single images…

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…

Bird's-eye view (BEV) perception has garnered significant attention in autonomous driving in recent years, in part because BEV representation facilitates multi-modal sensor fusion. BEV representation enables a variety of perception tasks…

Accurate LiDAR-camera calibration is fundamental to fusing multi-modal perception in autonomous driving and robotic systems. Traditional calibration methods require extensive data collection in controlled environments and cannot compensate…

Autonomous driving requires efficient reasoning about the location and appearance of the different agents in the scene, which aids in downstream tasks such as object detection, object tracking, and path planning. The past few years have…

Semantic scene segmentation from a bird's-eye-view (BEV) perspective plays a crucial role in facilitating planning and decision-making for mobile robots. Although recent vision-only methods have demonstrated notable advancements in…

In this paper, we propose a new image-based visual place recognition (VPR) framework by exploiting the structural cues in bird's-eye view (BEV) from a single monocular camera. The motivation arises from two key observations about place…

Vision-based Bird's-Eye-View (BEV) 3D object detection has recently become popular in autonomous driving. However, objects with a high similarity to the background from a camera perspective cannot be detected well by existing methods. In…

LiDAR-based 3D object detection plays a crucial role in modern autonomous driving systems. LiDAR data often exhibit severe changes in properties across different observation ranges. In this paper, we explore cross-range adaptation for 3D…

The progress of LiDAR-based 3D object detection has significantly enhanced developments in autonomous driving and robotics. However, due to the limitations of LiDAR sensors, object shapes suffer from deterioration in occluded and distant…

Advancements in convolutional neural networks (CNNs) have made significant strides toward achieving high performance levels on multiple object recognition tasks. While some approaches utilize information from the entire scene to propose…

Applying pseudo labeling techniques has been found to be advantageous in semi-supervised 3D object detection (SSOD) in Bird's-Eye-View (BEV) for autonomous driving, particularly where labeled data is limited. In the literature, Exponential…

We tackle a new problem of multi-view camera and subject registration in the bird's eye view (BEV) without pre-given camera calibration. This is a very challenging problem since its only input is several RGB images from different…

3D occupancy infers fine-grained 3D geometry and semantics which is critical for autonomous driving. Most existing approaches carry high compute costs, requiring dense 3D feature volume and cross-attention to effectively aggregate…

Bird's-eye View (BeV) representations have emerged as the de-facto shared space in driving applications, offering a unified space for sensor data fusion and supporting various downstream tasks. However, conventional models use grids with…

The choice of representation plays a key role in self-driving. Bird's eye view (BEV) representations have shown remarkable performance in recent years. In this paper, we propose to learn object-centric representations in BEV to distill a…

As an emerging technology and a relatively affordable device, the 4D imaging radar has already been confirmed effective in performing 3D object detection in autonomous driving. Nevertheless, the sparsity and noisiness of 4D radar point…

Bird's eye view (BEV) perception is becoming increasingly important in the field of autonomous driving. It uses multi-view camera data to learn a transformer model that directly projects the perception of the road environment onto the BEV…