Related papers: Refine-and-Contrast: Adaptive Instance-Aware BEV R…

We develop techniques for refining representations for fine-grained classification and segmentation tasks in a self-supervised manner. We find that fine-tuning methods based on instance-discriminative contrastive learning are not as…

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,…

Environmental perception with the multi-modal fusion of radar and camera is crucial in autonomous driving to increase accuracy, completeness, and robustness. This paper focuses on utilizing millimeter-wave (MMW) radar and camera sensor…

In this paper, we propose an adaptive margin contrastive learning method for 3D point cloud semantic segmentation, namely AMContrast3D. Most existing methods use equally penalized objectives, which ignore per-point ambiguities and less…

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…

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…

Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…

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…

Recent deep learning models achieve impressive results on 3D scene analysis tasks by operating directly on unstructured point clouds. A lot of progress was made in the field of object classification and semantic segmentation. However, the…

In the field of autonomous driving and mobile robotics, there has been a significant shift in the methods used to create Bird's Eye View (BEV) representations. This shift is characterised by using transformers and learning to fuse…

Accurate 3D object detection for autonomous driving requires complementary sensors. Cameras provide dense semantics but unreliable depth, while millimeter-wave radar offers precise range and velocity measurements with sparse geometry. We…

Multimodal camera-LiDAR fusion technology has found extensive application in 3D object detection, demonstrating encouraging performance. However, existing methods exhibit significant performance degradation in challenging scenarios…

Leveraging the powerful representation learning capabilities, deep multi-view clustering methods have demonstrated reliable performance by effectively integrating multi-source information from diverse views in recent years. Most existing…

Bird's eye view (BEV) representation has emerged as a dominant solution for describing 3D space in autonomous driving scenarios. However, objects in the BEV representation typically exhibit small sizes, and the associated point cloud…

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…

In this paper, we focus on the challenging task of monocular 3D lane detection. Previous methods typically adopt inverse perspective mapping (IPM) to transform the Front-Viewed (FV) images or features into the Bird-Eye-Viewed (BEV) space…

Existing approaches for unsupervised point cloud pre-training are constrained to either scene-level or point/voxel-level instance discrimination. Scene-level methods tend to lose local details that are crucial for recognizing the road…

Accurately perceiving instances and predicting their future motion are key tasks for autonomous vehicles, enabling them to navigate safely in complex urban traffic. While bird's-eye view (BEV) representations are commonplace in perception…

Multi-view camera-only 3D object detection largely follows two primary paradigms: exploiting bird's-eye-view (BEV) representations or focusing on perspective-view (PV) features, each with distinct advantages. Although several recent…

Existing approaches to drone visual geo-localization predominantly adopt the image-based setting, where a single drone-view snapshot is matched with images from other platforms. Such task formulation, however, underutilizes the inherent…