相关论文: BVMatch: Lidar-based Place Recognition Using Bird'…

Bird's-eye-view (BEV) images have been widely demonstrated to provide valuable prior information for navigation. Given the global information provided by such views, two key challenges remain: how to fully exploit this information and how…

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

Humans can orient themselves in their 3D environments using simple 2D maps. Differently, algorithms for visual localization mostly rely on complex 3D point clouds that are expensive to build, store, and maintain over time. We bridge this…

Point cloud data from 3D LiDAR sensors are one of the most crucial sensor modalities for versatile safety-critical applications such as self-driving vehicles. Since the annotations of point cloud data is an expensive and time-consuming…

In autonomous driving, place recognition is critical for global localization in GPS-denied environments. LiDAR and radar-based place recognition methods have garnered increasing attention, as LiDAR provides precise ranging, whereas radar…

Accurate environment perception is essential for automated driving. When using monocular cameras, the distance estimation of elements in the environment poses a major challenge. Distances can be more easily estimated when the camera…

Multi-modal sensor fusion in Bird's Eye View (BEV) representation has become the leading approach for 3D object detection. However, existing methods often rely on depth estimators or transformer encoders to transform image features into BEV…

LiDAR place recognition is a critical capability for autonomous navigation and cross-modal localization in large-scale outdoor environments. Existing approaches predominantly depend on pre-built 3D dense maps or aerial imagery, which impose…

Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…

The integration of a SLAM algorithm with place recognition technology empowers it with the ability to mitigate accumulated errors and to relocalize itself. However, existing methods for point cloud-based place recognition predominantly rely…

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…

In this paper, we propose M$^2$BEV, a unified framework that jointly performs 3D object detection and map segmentation in the Birds Eye View~(BEV) space with multi-camera image inputs. Unlike the majority of previous works which separately…

We present BEV-SLD, a LiDAR global localization method building on the Scene Landmark Detection (SLD) concept. Unlike scene-agnostic pipelines, our self-supervised approach leverages bird's-eye-view (BEV) images to discover scene-specific…

With the attention gained by camera-only 3D object detection in autonomous driving, methods based on Bird-Eye-View (BEV) representation especially derived from the forward view transformation paradigm, i.e., lift-splat-shoot (LSS), have…

While most recent autonomous driving system focuses on developing perception methods on ego-vehicle sensors, people tend to overlook an alternative approach to leverage intelligent roadside cameras to extend the perception ability beyond…

Autonomous vehicle perception systems have traditionally relied on costly LiDAR sensors to generate precise environmental representations. In this paper, we propose a camera-only perception framework that produces Bird's Eye View (BEV) maps…

Moving object detection and segmentation is an essential task in the Autonomous Driving pipeline. Detecting and isolating static and moving components of a vehicle's surroundings are particularly crucial in path planning and localization…

This paper introduces BEV-VLM, a novel approach for trajectory planning in autonomous driving that leverages Vision-Language Models (VLMs) with Bird's-Eye View (BEV) feature maps as visual input. Unlike conventional trajectory planning…

Visual place recognition is essential for vision-based robot localization and SLAM. Despite the tremendous progress made in recent years, place recognition in changing environments remains challenging. A promising approach to cope with…

Due to its cost-effectiveness and widespread availability, monocular 3D object detection, which relies solely on a single camera during inference, holds significant importance across various applications, including autonomous driving and…