相关论文: Learning Ego 3D Representation as Ray Tracing

Accurate, fast, and reliable 3D perception is essential for autonomous driving. Recently, bird's-eye view (BEV)-based perception approaches have emerged as superior alternatives to perspective-based solutions, offering enhanced spatial…

Analysis and interpretation of egocentric video data is becoming more and more important with the increasing availability and use of wearable cameras. Exploring and fully understanding affinities and differences between ego and allo (or…

Autonomous vehicles (AV) require that neural networks used for perception be robust to different viewpoints if they are to be deployed across many types of vehicles without the repeated cost of data collection and labeling for each. AV…

3D object detection is an essential perception task in autonomous driving to understand the environments. The Bird's-Eye-View (BEV) representations have significantly improved the performance of 3D detectors with camera inputs on popular…

We propose a method for incorporating object interaction and human body dynamics into the task of 3D ego-pose estimation using a head-mounted camera. We use a kinematics model of the human body to represent the entire range of human motion,…

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…

In this paper, we present BEVerse, a unified framework for 3D perception and prediction based on multi-camera systems. Unlike existing studies focusing on the improvement of single-task approaches, BEVerse features in producing…

The 3D visual perception for vehicles with the surround-view fisheye camera system is a critical and challenging task for low-cost urban autonomous driving. While existing monocular 3D object detection methods perform not well enough on the…

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…

Seeing only a tiny part of the whole is not knowing the full circumstance. Bird's-eye-view (BEV) perception, a process of obtaining allocentric maps from egocentric views, is restricted when using a narrow Field of View (FoV) alone. In this…

The goal of perception for autonomous vehicles is to extract semantic representations from multiple sensors and fuse these representations into a single "bird's-eye-view" coordinate frame for consumption by motion planning. We propose a new…

Spatial understanding of the semantics of the surroundings is a key capability needed by autonomous cars to enable safe driving decisions. Recently, purely vision-based solutions have gained increasing research interest. In particular,…

Current on-board chips usually have different computing power, which means multiple training processes are needed for adapting the same learning-based algorithm to different chips, costing huge computing resources. The situation becomes…

Bird's-Eye-View (BEV) perception has become a foundational paradigm in autonomous driving, enabling unified spatial representations that support robust multi-sensor fusion and multi-agent collaboration. As autonomous vehicles transition…

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…

Bird's-Eye-View (BEV) perception has become a vital component of autonomous driving systems due to its ability to integrate multiple sensor inputs into a unified representation, enhancing performance in various downstream tasks. However,…

3D perception based on the representations learned from multi-camera bird's-eye-view (BEV) is trending as cameras are cost-effective for mass production in autonomous driving industry. However, there exists a distinct performance gap…

Bird's Eye View (BEV) map prediction is essential for downstream autonomous driving tasks like trajectory prediction. In the past, this was accomplished through the use of a sophisticated sensor configuration that captured a surround view…

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…

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…