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

Place recognition is a key module for long-term SLAM systems. Current LiDAR-based place recognition methods usually use representations of point clouds such as unordered points or range images. These methods achieve high recall rates of…

Bird's-eye View (BeV) representations have emerged as the de-facto shared space in driving applications, offering a unified space for sensor data fusion and supporting various downstream tasks. However, conventional models use grids with…

3D object detection from multiple image views is a fundamental and challenging task for visual scene understanding. Owing to its low cost and high efficiency, multi-view 3D object detection has demonstrated promising application prospects.…

Autonomous navigation in marine environments can be extremely challenging, especially in the presence of spatially varying flow disturbances and dynamic and static obstacles. In this work, we demonstrate that incorporating local flow field…

In this research, we propose a new 3D object detector with a trustworthy depth estimation, dubbed BEVDepth, for camera-based Bird's-Eye-View (BEV) 3D object detection. Our work is based on a key observation -- depth estimation in recent…

Three-dimensional perception from multi-view cameras is a crucial component in autonomous driving systems, which involves multiple tasks like 3D object detection and bird's-eye-view (BEV) semantic segmentation. To improve perception…

In current research, Bird's-Eye-View (BEV)-based transformers are increasingly utilized for multi-camera 3D object detection. Traditional models often employ random queries as anchors, optimizing them successively. Recent advancements…

The escalating use of Unmanned Aerial Vehicles (UAVs) as remote sensing platforms has garnered considerable attention, proving invaluable for ground object recognition. While satellite remote sensing images face limitations in resolution…

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…

We propose a unified object-aware temporal learning framework for multi-view 3D detection and tracking tasks. Having observed that the efficacy of the temporal fusion strategy in recent multi-view perception methods may be weakened by…

BEV perception is of great importance in the field of autonomous driving, serving as the cornerstone of planning, controlling, and motion prediction. The quality of the BEV feature highly affects the performance of BEV perception. However,…

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…

In the field of autonomous driving, Bird's-Eye-View (BEV) perception has attracted increasing attention in the community since it provides more comprehensive information compared with pinhole front-view images and panoramas. Traditional BEV…

Multi-camera 3D object detection for autonomous driving is a challenging problem that has garnered notable attention from both academia and industry. An obstacle encountered in vision-based techniques involves the precise extraction of…

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…

3D perception is a critical problem in autonomous driving. Recently, the Bird-Eye-View (BEV) approach has attracted extensive attention, due to low-cost deployment and desirable vision detection capacity. However, the existing models ignore…

In this paper, we propose a new image-based visual place recognition (VPR) framework by exploiting the structural cues in bird's-eye view (BEV) from a single monocular camera. The motivation arises from two key observations about place…

A recent sensor fusion in a Bird's Eye View (BEV) space has shown its utility in various tasks such as 3D detection, map segmentation, etc. However, the approach struggles with inaccurate camera BEV estimation, and a perception of distant…

Perception is essential for autonomous driving system. Recent approaches based on Bird's-eye-view (BEV) and deep learning have made significant progress. However, there exists challenging issues including lengthy development cycles, poor…

Recent advancements in bird's eye view (BEV) representations have shown remarkable promise for in-vehicle 3D perception. However, while these methods have achieved impressive results on standard benchmarks, their robustness in varied…