相关论文: BEVFormer: Learning Bird's-Eye-View Representation…

Bird's-Eye View (BEV) features are popular intermediate scene representations shared by the 3D backbone and the detector head in LiDAR-based object detectors. However, little research has been done to investigate how to incorporate…

LiDAR is crucial for robust 3D scene perception in autonomous driving. LiDAR perception has the largest body of literature after camera perception. However, multi-task learning across tasks like detection, segmentation, and motion…

In this paper, we propose PETRv2, a unified framework for 3D perception from multi-view images. Based on PETR, PETRv2 explores the effectiveness of temporal modeling, which utilizes the temporal information of previous frames to boost 3D…

3D object detection in autonomous driving aims to reason "what" and "where" the objects of interest present in a 3D world. Following the conventional wisdom of previous 2D object detection, existing methods often adopt the canonical…

In advanced paradigms of autonomous driving, learning Bird's Eye View (BEV) representation from surrounding views is crucial for multi-task framework. However, existing methods based on depth estimation or camera-driven attention are not…

Using synthesized images to boost the performance of perception models is a long-standing research challenge in computer vision. It becomes more eminent in visual-centric autonomous driving systems with multi-view cameras as some long-tail…

Birds-Eye-View (BEV) segmentation aims to establish a spatial mapping from the perspective view to the top view and estimate the semantic maps from monocular images. Recent studies have encountered difficulties in view transformation due to…

Recent years have witnessed a trend of applying context frames to boost the performance of object detection as video object detection. Existing methods usually aggregate features at one stroke to enhance the feature. These methods, however,…

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…

Accurately detecting lane lines in 3D space is crucial for autonomous driving. Existing methods usually first transform image-view features into bird-eye-view (BEV) by aid of inverse perspective mapping (IPM), and then detect lane lines…

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…

Striking a balance between precision and efficiency presents a prominent challenge in the bird's-eye-view (BEV) 3D object detection. Although previous camera-based BEV methods achieved remarkable performance by incorporating long-term…

Perceiving the world and forecasting its future state is a critical task for self-driving. Supervised approaches leverage annotated object labels to learn a model of the world -- traditionally with object detections and trajectory…

In autonomous driving, 3D object detection is essential for accurate perception and reliable decision-making. However, object motion and ego-motion often induce cross-frame spatiotemporal inconsistencies in BEV-based detectors, leading to…

This paper investigates the advantages of using Bird's Eye View (BEV) representation in 360-degree visual place recognition (VPR). We propose a novel network architecture that utilizes the BEV representation in feature extraction, feature…

Popular representation learning methods encourage feature invariance under transformations applied at the input. However, in 3D perception tasks like object localization and segmentation, outputs are naturally equivariant to some…

The Bird's-eye View (BeV) representation is widely used for 3D perception from multi-view camera images. It allows to merge features from different cameras into a common space, providing a unified representation of the 3D scene. The key…

Autonomous Vehicles (AVs) use multiple sensors to gather information about their surroundings. By sharing sensor data between Connected Autonomous Vehicles (CAVs), the safety and reliability of these vehicles can be improved through a…

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…

Building 3D perception systems for autonomous vehicles that do not rely on high-density LiDAR is a critical research problem because of the expense of LiDAR systems compared to cameras and other sensors. Recent research has developed a…