相关论文: Multi-View Fusion of Sensor Data for Improved Perc…

Recently, perception task based on Bird's-Eye View (BEV) representation has drawn more and more attention, and BEV representation is promising as the foundation for next-generation Autonomous Vehicle (AV) perception. However, most existing…

Autonomous vehicles face major perception and navigation challenges in adverse weather such as rain, fog, and snow, which degrade the performance of LiDAR, RADAR, and RGB camera sensors. While each sensor type offers unique strengths, such…

Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…

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…

Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…

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…

Multi-view 3D object detection is becoming popular in autonomous driving due to its high effectiveness and low cost. Most of the current state-of-the-art detectors follow the query-based bird's-eye-view (BEV) paradigm, which benefits from…

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…

Vehicle object detection benefits from both LiDAR and camera data, with LiDAR offering superior performance in many scenarios. Fusion of these modalities further enhances accuracy, but existing methods often introduce complexity or…

Camera-based 3D object detection and tracking are essential for perception in autonomous driving. Current state-of-the-art approaches often rely exclusively on either perspective-view (PV) or bird's-eye-view (BEV) features, limiting their…

Bird's-Eye-View (BEV) perception has become a vital component of autonomous driving systems due to its ability to integrate multiple sensor inputs into a unified representation, enhancing performance in various downstream tasks. However,…

Existing multi-view representation learning methods typically follow a specific-to-uniform pipeline, extracting latent features from each view and then fusing or aligning them to obtain the unified object representation. However, the…

Learning contextual and spatial environmental representations enhances autonomous vehicle's hazard anticipation and decision-making in complex scenarios. Recent perception systems enhance spatial understanding with sensor fusion but often…

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…

In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…

In the field of autonomous driving, 3D object detection is a very important perception module. Although the current SOTA algorithm combines Camera and Lidar sensors, limited by the high price of Lidar, the current mainstream landing schemes…

Recently, the pure camera-based Bird's-Eye-View (BEV) perception removes expensive Lidar sensors, making it a feasible solution for economical autonomous driving. However, most existing BEV solutions either suffer from modest performance or…

In this paper, we propose a novel approach to address the problem of camera and radar sensor fusion for 3D object detection in autonomous vehicle perception systems. Our approach builds on recent advances in deep learning and leverages the…

Light Detection And Ranging (LiDAR) has been widely used in autonomous vehicles for perception and localization. However, the cost of a high-resolution LiDAR is still prohibitively expensive, while its low-resolution counterpart is much…

3D perception is a critical problem in autonomous driving. Recently, the Bird-Eye-View (BEV) approach has attracted extensive attention, due to low-cost deployment and desirable vision detection capacity. However, the existing models ignore…