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Autonomous driving perceives its surroundings for decision making, which is one of the most complex scenarios in visual perception. The success of paradigm innovation in solving the 2D object detection task inspires us to seek an elegant,…

Camera-based Bird's-Eye-View (BEV) perception often struggles between adopting 3D-to-2D or 2D-to-3D view transformation (VT). The 3D-to-2D VT typically employs resource-intensive Transformer to establish robust correspondences between 3D…

Semantic segmentation is a fundamental task in visual scene understanding. We focus on the supervised setting, where ground-truth semantic annotations are available. Based on knowledge about the high regularity of real-world scenes, we…

Path planning with strong environmental adaptability plays a crucial role in robotic navigation in unstructured outdoor environments, especially in the case of low-quality location and map information. The path planning ability of a robot…

Vision-centric joint perception and prediction (PnP) has become an emerging trend in autonomous driving research. It predicts the future states of the traffic participants in the surrounding environment from raw RGB images. However, it is…

Semantic segmentation from very fine resolution (VFR) urban scene images plays a significant role in several application scenarios including autonomous driving, land cover classification, and urban planning, etc. However, the tremendous…

Semantic segmentation of eyes has long been a vital pre-processing step in many biometric applications. Majority of the works focus only on high resolution eye images, while little has been done to segment the eyes from low quality images…

Autonomous driving requires the inference of actionable information such as detecting and classifying objects, and determining the drivable space. To this end, we present Multi-View LidarNet (MVLidarNet), a two-stage deep neural network for…

We present TinyBEV, a unified, camera only Bird's Eye View (BEV) framework that distills the full-stack capabilities of a large planning-oriented teacher (UniAD [19]) into a compact, real-time student model. Unlike prior efficient camera…

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…

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…

Map construction task plays a vital role in providing precise and comprehensive static environmental information essential for autonomous driving systems. Primary sensors include cameras and LiDAR, with configurations varying between…

Accurate eye segmentation can improve eye-gaze estimation and support interactive computing based on visual attention; however, existing eye segmentation methods suffer from issues such as person-dependent accuracy, lack of robustness, and…

Semantic segmentation is essential for analysing anatomical features in biomedical research, yet a performance gap remains for Vision Transformers (ViTs) in the field, particularly for sparse, fine-structured, and low signal-to-noise…

Cross-modal Unsupervised Domain Adaptation (UDA) aims to exploit the complementarity of 2D-3D data to overcome the lack of annotation in a new domain. However, UDA methods rely on access to the target domain during training, meaning the…

Modern autonomous driving systems increasingly rely on mixed camera configurations with pinhole and fisheye cameras for full view perception. However, Bird's-Eye View (BEV) 3D object detection models are predominantly designed for pinhole…

View Transformation Module (VTM), where transformations happen between multi-view image features and Bird-Eye-View (BEV) representation, is a crucial step in camera-based BEV perception systems. Currently, the two most prominent VTM…

Bird's-Eye-View (BEV) is critical to connected and automated vehicles (CAVs) as it can provide unified and precise representation of vehicular surroundings. However, quality of the raw sensing data may degrade in occluded or distant…

Multi-view camera-based 3D detection is a challenging problem in computer vision. Recent works leverage a pretrained LiDAR detection model to transfer knowledge to a camera-based student network. However, we argue that there is a major…

Despite significant progress in Vision-Language Navigation (VLN), existing approaches still rely on dense RGB videos that produce excessive patch tokens and lack explicit spatial structure, resulting in substantial computational overhead…