Related papers: DenseBEV: Transforming BEV Grid Cells into 3D Obje…
The curation of large-scale datasets is still costly and requires much time and resources. Data is often manually labeled, and the challenge of creating high-quality datasets remains. In this work, we fill the research gap using active…
Vision-centric bird-eye-view (BEV) perception has shown promising potential in autonomous driving. Recent works mainly focus on improving efficiency or accuracy but neglect the challenges when facing environment changing, resulting in…
Recent vision-only perception models for autonomous driving achieved promising results by encoding multi-view image features into Bird's-Eye-View (BEV) space. A critical step and the main bottleneck of these methods is transforming image…
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…
Anchor-free object detectors are highly efficient in performing point-based prediction without the need for extra post-processing of anchors. However, different from the 2D grids, the 3D points used in these detectors are often far from the…
Accurate and robust 3D object detection is a critical component in autonomous vehicles and robotics. While recent radar-camera fusion methods have made significant progress by fusing information in the bird's-eye view (BEV) representation,…
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…
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…
We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…
Camera and LiDAR sensor modalities provide complementary appearance and geometric information useful for detecting 3D objects for autonomous vehicle applications. However, current end-to-end fusion methods are challenging to train and…
Tracking vehicles in LIDAR point clouds is a challenging task due to the sparsity of the data and the dense search space. The lack of structure in point clouds impedes the use of convolution filters usually employed in 2D object tracking.…
This paper presents novel hybrid architectures that combine grid- and point-based processing to improve the detection performance and orientation estimation of radar-based object detection networks. Purely grid-based detection models…
Three-dimensional perception from multi-view cameras is a crucial component in autonomous driving systems, which involves multiple tasks like 3D object detection and bird's-eye-view (BEV) semantic segmentation. To improve perception…
Multi-modal 3D object detection with bird's eye view (BEV) has achieved desired advances on benchmarks. Nonetheless, the accuracy may drop significantly in the real world due to data corruption such as sensor configurations for LiDAR and…
In this paper, we propose a novel query design for the transformer-based object detection. In previous transformer-based detectors, the object queries are a set of learned embeddings. However, each learned embedding does not have an…
Identifying moving objects is an essential capability for autonomous systems, as it provides critical information for pose estimation, navigation, collision avoidance, and static map construction. In this paper, we present MotionBEV, a fast…
Currently prevalent multimodal 3D detection methods are built upon LiDAR-based detectors that usually use dense Bird's-Eye-View (BEV) feature maps. However, the cost of such BEV feature maps is quadratic to the detection range, making it…
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…
In this paper, we present DAT, a Depth-Aware Transformer framework designed for camera-based 3D detection. Our model is based on observing two major issues in existing methods: large depth translation errors and duplicate predictions along…
Recently, Bird's-Eye-View (BEV) representation has gained increasing attention in multi-view 3D object detection, which has demonstrated promising applications in autonomous driving. Although multi-view camera systems can be deployed at low…