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

Bird's-eye-view (BEV) semantic segmentation is becoming crucial in autonomous driving systems. It realizes ego-vehicle surrounding environment perception by projecting 2D multi-view images into 3D world space. Recently, BEV segmentation has…

In the field of autonomous driving, end-to-end deep learning models show great potential by learning driving decisions directly from sensor data. However, training these models requires large amounts of labeled data, which is time-consuming…

Geometric knowledge has been shown to be beneficial for the stereo matching task. However, prior attempts to integrate geometric insights into stereo matching algorithms have largely focused on geometric knowledge from single images while…

Detection of moving objects is a very important task in autonomous driving systems. After the perception phase, motion planning is typically performed in Bird's Eye View (BEV) space. This would require projection of objects detected on the…

Stereo matching is one of the longest-standing problems in computer vision with close to 40 years of studies and research. Throughout the years the paradigm has shifted from local, pixel-level decision to various forms of discrete and…

Being a crucial task of autonomous driving, Stereo matching has made great progress in recent years. Existing stereo matching methods estimate disparity instead of depth. They treat the disparity errors as the evaluation metric of the depth…

Learning-based multi-view stereo (MVS) has by far centered around 3D convolution on cost volumes. Due to the high computation and memory consumption of 3D CNN, the resolution of output depth is often considerably limited. Different from…

Autonomous UAV forestry operations require robust depth estimation methods with strong cross-domain generalization. However, existing evaluations focus on urban and indoor scenarios, leaving a critical gap for specialized vegetation-dense…

A 360{\deg} perception of scene geometry is essential for automated driving, notably for parking and urban driving scenarios. Typically, it is achieved using surround-view fisheye cameras, focusing on the near-field area around the vehicle.…

Recent methods in stereo matching have continuously improved the accuracy using deep models. This gain, however, is attained with a high increase in computation cost, such that the network may not fit even on a moderate GPU. This issue…

Autonomous driving requires accurate reasoning of the location of objects from raw sensor data. Recent end-to-end learning methods go from raw sensor data to a trajectory output via Bird's Eye View(BEV) segmentation as an interpretable…

Autonomous driving requires efficient reasoning about the location and appearance of the different agents in the scene, which aids in downstream tasks such as object detection, object tracking, and path planning. The past few years have…

In autonomous driving, accurately estimating the state of surrounding obstacles is critical for safe and robust path planning. However, this perception task is difficult, particularly for generic obstacles/objects, due to appearance and…

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…

In this paper, we address the novel, highly challenging problem of estimating the layout of a complex urban driving scenario. Given a single color image captured from a driving platform, we aim to predict the bird's-eye view layout of the…

Autonomous driving requires understanding infrastructure elements, such as lanes and crosswalks. To navigate safely, this understanding must be derived from sensor data in real-time and needs to be represented in vectorized form. Learned…

Recent advances in autonomous driving systems have shifted towards reducing reliance on high-definition maps (HDMaps) due to the huge costs of annotation and maintenance. Instead, researchers are focusing on online vectorized HDMap…

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…

Achieving robust and real-time 3D perception is fundamental for autonomous vehicles. While most existing 3D perception methods prioritize detection accuracy, they often overlook critical aspects such as computational efficiency, onboard…

This paper aims at achieving fine-grained building attribute segmentation in a cross-view scenario, i.e., using satellite and street-view image pairs. The main challenge lies in overcoming the significant perspective differences between…