相关论文: SBEVNet: End-to-End Deep Stereo Layout Estimation

In the field of autonomous driving, Bird's-Eye-View (BEV) perception has attracted increasing attention in the community since it provides more comprehensive information compared with pinhole front-view images and panoramas. Traditional BEV…

Stereo vision generally involves the computation of pixel correspondences and estimation of disparities between rectified image pairs. In many applications, including simultaneous localization and mapping (SLAM) and 3D object detection, the…

Recently, leveraging on the development of end-to-end convolutional neural networks (CNNs), deep stereo matching networks have achieved remarkable performance far exceeding traditional approaches. However, state-of-the-art stereo frameworks…

Despite tremendous advancements in bird's-eye view (BEV) perception, existing models fall short in generating realistic and coherent semantic map layouts, and they fail to account for uncertainties arising from partial sensor information…

Depth estimation is a cornerstone of perception in autonomous driving and robotic systems. The considerable cost and relatively sparse data acquisition of LiDAR systems have led to the exploration of cost-effective alternatives, notably,…

Bird's-Eye-View (BEV) semantic maps have become an essential component of automated driving pipelines due to the rich representation they provide for decision-making tasks. However, existing approaches for generating these maps still follow…

Birds-eye-view (BEV) semantic segmentation is critical for autonomous driving for its powerful spatial representation ability. It is challenging to estimate the BEV semantic maps from monocular images due to the spatial gap, since it is…

Depth estimation, as a necessary clue to convert 2D images into the 3D space, has been applied in many machine vision areas. However, to achieve an entire surrounding 360-degree geometric sensing, traditional stereo matching algorithms for…

Learning powerful representations in bird's-eye-view (BEV) for perception tasks is trending and drawing extensive attention both from industry and academia. Conventional approaches for most autonomous driving algorithms perform detection,…

We present three multi-scale similarity learning architectures, or DeepSim networks. These models learn pixel-level matching with a contrastive loss and are agnostic to the geometry of the considered scene. We establish a middle ground…

Recent convolutional neural networks, especially end-to-end disparity estimation models, achieve remarkable performance on stereo matching task. However, existed methods, even with the complicated cascade structure, may fail in the regions…

Birds' Eye View (BEV) semantic segmentation is an indispensable perception task in end-to-end autonomous driving systems. Unsupervised and semi-supervised learning for BEV tasks, as pivotal for real-world applications, underperform due to…

Stereo matching and semantic segmentation are significant tasks in binocular satellite 3D reconstruction. However, previous studies primarily view these as independent parallel tasks, lacking an integrated multitask learning framework. This…

Omnidirectional depth sensing has its advantage over the conventional stereo systems since it enables us to recognize the objects of interest in all directions without any blind regions. In this paper, we propose a novel wide-baseline…

Bird's-Eye-View (BEV) maps have emerged as one of the most powerful representations for scene understanding due to their ability to provide rich spatial context while being easy to interpret and process. Such maps have found use in many…

Bird's-eye-view (BEV) representations derived from multi-camera input have become a central interface for online high-definition (HD) map construction. However, most approaches rely solely on ego-centric supervision, requiring large-scale…

Expressing images with Multi-Resolution (MR) features has been widely adopted in many computer vision tasks. In this paper, we introduce the MR concept into Bird's-Eye-View (BEV) semantic segmentation for autonomous driving. This…

Deep learning-based multi-view stereo has emerged as a powerful paradigm for reconstructing the complete geometrically-detailed objects from multi-views. Most of the existing approaches only estimate the pixel-wise depth value by minimizing…

End-to-end deep-learning networks recently demonstrated extremely good perfor- mance for stereo matching. However, existing networks are difficult to use for practical applications since (1) they are memory-hungry and unable to process even…

3D semantic scene completion (SSC) is an ill-posed perception task that requires inferring a dense 3D scene from limited observations. Previous camera-based methods struggle to predict accurate semantic scenes due to inherent geometric…