相关论文: BEVDet: High-performance Multi-camera 3D Object De…
To achieve accurate and low-cost 3D object detection, existing methods propose to benefit camera-based multi-view detectors with spatial cues provided by the LiDAR modality, e.g., dense depth supervision and bird-eye-view (BEV) feature…
The integration of Large Language Models (LLMs) into autonomous driving has attracted growing interest for their strong reasoning and semantic understanding abilities, which are essential for handling complex decision-making and long-tail…
Localization in GNSS-denied and GNSS-degraded environments is a challenge for the safe widespread deployment of autonomous vehicles. Such GNSS-challenged environments require alternative methods for robust localization. In this work, we…
Recent works in object detection in LiDAR point clouds mostly focus on predicting bounding boxes around objects. This prediction is commonly achieved using anchor-based or anchor-free detectors that predict bounding boxes, requiring…
The recent advance in multi-camera 3D object detection is featured by bird's-eye view (BEV) representation or object queries. However, the ill-posed transformation from image-plane view to 3D space inevitably causes feature clutter and…
LiDAR and camera are two essential sensors for 3D object detection in autonomous driving. LiDAR provides accurate and reliable 3D geometry information while the camera provides rich texture with color. Despite the increasing popularity of…
There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…
Model efficiency has become increasingly important in computer vision. In this paper, we systematically study neural network architecture design choices for object detection and propose several key optimizations to improve efficiency.…
Recent vision-only perception models for autonomous driving achieved promising results by encoding multi-view image features into Bird's-Eye-View (BEV) space. A critical step and the main bottleneck of these methods is transforming image…
Comprehending the environment and accurately detecting objects in 3D space are essential for advancing autonomous vehicle technologies. Integrating Camera and LIDAR data has emerged as an effective approach for achieving high accuracy in 3D…
Existing point-cloud based 3D object detectors use convolution-like operators to process information in a local neighbourhood with fixed-weight kernels and aggregate global context hierarchically. However, non-local neural networks and…
Accurately estimating the orientation of pedestrians is an important and challenging task for autonomous driving because this information is essential for tracking and predicting pedestrian behavior. This paper presents a flexible Virtual…
Multi-view camera-based 3D perception can be conducted using bird's eye view (BEV) features obtained through perspective view-to-BEV transformations. Several studies have shown that the performance of these 3D perception methods can be…
Semantic scene segmentation from a bird's-eye-view (BEV) perspective plays a crucial role in facilitating planning and decision-making for mobile robots. Although recent vision-only methods have demonstrated notable advancements in…
While recent low-cost radar-camera approaches have shown promising results in multi-modal 3D object detection, both sensors face challenges from environmental and intrinsic disturbances. Poor lighting or adverse weather conditions degrade…
The emergence of Multi-Camera 3D Object Detection (MC3D-Det), facilitated by bird's-eye view (BEV) representation, signifies a notable progression in 3D object detection. Scaling MC3D-Det training effectively accommodates varied camera…
3D environment recognition is essential for autonomous driving systems, as autonomous vehicles require a comprehensive understanding of surrounding scenes. Recently, the predominant approach to define this real-life problem is through 3D…
Understanding driving situations regardless the conditions of the traffic scene is a cornerstone on the path towards autonomous vehicles; however, despite common sensor setups already include complementary devices such as LiDAR or radar,…
Vehicle perception systems strive to achieve comprehensive and rapid visual interpretation of their surroundings for improved safety and navigation. We introduce YOLO-BEV, an efficient framework that harnesses a unique surrounding cameras…
Bird's eye view (BEV) semantic segmentation plays a crucial role in spatial sensing for autonomous driving. Although recent literature has made significant progress on BEV map understanding, they are all based on single-agent camera-based…