相关论文: LiMoSeg: Real-time Bird's Eye View based LiDAR Mot…

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) representation is crucial for the perception function in autonomous driving tasks. It is difficult to balance the accuracy, efficiency and range of BEV representation. The existing works are restricted to a limited…

Estimating a semantically segmented bird's-eye-view (BEV) map from a single image has become a popular technique for autonomous control and navigation. However, they show an increase in localization error with distance from the camera.…

Bird's-eye view (BEV) object detection has become important for advanced automotive 3D radar-based perception systems. However, the inherently sparse and non-deterministic nature of radar data limits the effectiveness of traditional…

3D object detection from LiDAR data for autonomous driving has been making remarkable strides in recent years. Among the state-of-the-art methodologies, encoding point clouds into a bird's eye view (BEV) has been demonstrated to be both…

Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…

Semantic segmentation in bird's eye view (BEV) is an important task for autonomous driving. Though this task has attracted a large amount of research efforts, it is still challenging to flexibly cope with arbitrary (single or multiple)…

Bird's-eye view (BEV) perception has garnered significant attention in autonomous driving in recent years, in part because BEV representation facilitates multi-modal sensor fusion. BEV representation enables a variety of perception tasks…

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…

In this paper, we propose PointSeg, a real-time end-to-end semantic segmentation method for road-objects based on spherical images. We take the spherical image, which is transformed from the 3D LiDAR point clouds, as input of the…

Accurate multi-view 3D object detection is essential for applications such as autonomous driving. Researchers have consistently aimed to leverage LiDAR's precise spatial information to enhance camera-based detectors through methods like…

In recent studies, numerous previous works emphasize the importance of semantic segmentation of LiDAR data as a critical component to the development of driver-assistance systems and autonomous vehicles. However, many state-of-the-art…

Autonomous navigation requires structured representation of the road network and instance-wise identification of the other traffic agents. Since the traffic scene is defined on the ground plane, this corresponds to scene understanding in…

Integrating LiDAR and camera information into Bird's-Eye-View (BEV) representation has emerged as a crucial aspect of 3D object detection in autonomous driving. However, existing methods are susceptible to the inaccurate calibration…

Current research in semantic bird's-eye view segmentation for autonomous driving focuses solely on optimizing neural network models using a single dataset, typically nuScenes. This practice leads to the development of highly specialized…

In dynamic environments, the ability to detect and track moving objects in real-time is crucial for autonomous robots to navigate safely and effectively. Traditional methods for dynamic object detection rely on high accuracy odometry and…

Accurate and robust multimodal multi-task perception is crucial for modern autonomous driving systems. However, current multimodal perception research follows independent paradigms designed for specific perception tasks, leading to a lack…

The performance of object detection methods based on LiDAR information is heavily impacted by the availability of training data, usually limited to certain laser devices. As a result, the use of synthetic data is becoming popular when…

Camera and 3D LiDAR sensors have become indispensable devices in modern autonomous driving vehicles, where the camera provides the fine-grained texture, color information in 2D space and LiDAR captures more precise and farther-away distance…

Understanding the scene is key for autonomously navigating vehicles and the ability to segment the surroundings online into moving and non-moving objects is a central ingredient for this task. Often, deep learning-based methods are used to…