相关论文: BEV-Seg: Bird's Eye View Semantic Segmentation Usi…

Modern methods for vision-centric autonomous driving perception widely adopt the bird's-eye-view (BEV) representation to describe a 3D scene. Despite its better efficiency than voxel representation, it has difficulty describing the…

Generating annotations for bird's-eye-view (BEV) segmentation presents significant challenges due to the scenes' complexity and the high manual annotation cost. In this work, we address these challenges by leveraging the abundance of…

Bird's Eye View (BEV) is a popular representation for processing 3D point clouds, and by its nature is fundamentally sparse. Motivated by the computational limitations of mobile robot platforms, we create a fast, high-performance BEV 3D…

In this paper, we introduce a deep encoder-decoder network, named SalsaNet, for efficient semantic segmentation of 3D LiDAR point clouds. SalsaNet segments the road, i.e. drivable free-space, and vehicles in the scene by employing the…

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…

Awareness of the road scene is an essential component for both autonomous vehicles and Advances Driver Assistance Systems and is gaining importance both for the academia and car companies. This paper presents a way to learn a semantic-aware…

3D object detection plays a pivotal role in autonomous driving and robotics, demanding precise interpretation of Bird's Eye View (BEV) images. The dynamic nature of real-world environments necessitates the use of dynamic query mechanisms in…

LiDAR point cloud segmentation is one of the most fundamental tasks for autonomous driving scene understanding. However, it is difficult for existing models to achieve both high inference speed and accuracy simultaneously. For example,…

Recent advancements in bird's eye view (BEV) representations have shown remarkable promise for in-vehicle 3D perception. However, while these methods have achieved impressive results on standard benchmarks, their robustness in varied…

Cooperative perception systems for autonomous driving aim to overcome the limited perception range of a single vehicle by communicating with adjacent agents to share sensing information. While this improves perception performance, these…

Semantic segmentation aims to robustly predict coherent class labels for entire regions of an image. It is a scene understanding task that powers real-world applications (e.g., autonomous navigation). One important application, the use of…

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…

Bird's eye view (BEV) representation is a new perception formulation for autonomous driving, which is based on spatial fusion. Further, temporal fusion is also introduced in BEV representation and gains great success. In this work, we…

Path planning with strong environmental adaptability plays a crucial role in robotic navigation in unstructured outdoor environments, especially in the case of low-quality location and map information. The path planning ability of a robot…

Semantic segmentation and vision-based geolocalization in aerial images are challenging tasks in computer vision. Due to the advent of deep convolutional nets and the availability of relatively low cost UAVs, they are currently generating a…

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…

Bird's-eye view (BEV) perception has gained significant attention because it provides a unified representation to fuse multiple view images and enables a wide range of down-stream autonomous driving tasks, such as forecasting and planning.…

Camera-based Bird's Eye View (BEV) perception models receive increasing attention for their crucial role in autonomous driving, a domain where concerns about the robustness and reliability of deep learning have been raised. While only a few…

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…

Bird's Eye View (BEV) perception technology is crucial for autonomous driving, as it generates top-down 2D maps for environment perception, navigation, and decision-making. Nevertheless, the majority of current BEV map generation studies…