相关论文: Efficient and Robust 2D-to-BEV Representation Lear…

Perceiving and reconstructing 3D scene geometry from visual inputs is crucial for autonomous driving. However, there still lacks a driving-targeted dense geometry perception model that can adapt to different scenarios and camera…

3D visual perception tasks, including 3D detection and map segmentation based on multi-camera images, are essential for autonomous driving systems. In this work, we present a new framework termed BEVFormer, which learns unified BEV…

The de novo generation of molecules with desirable properties is a critical challenge, where diffusion models are computationally intensive and autoregressive models struggle with error propagation. In this work, we introduce the Graph…

Recently, the pure camera-based Bird's-Eye-View (BEV) perception removes expensive Lidar sensors, making it a feasible solution for economical autonomous driving. However, most existing BEV solutions either suffer from modest performance or…

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…

3D object detection in Bird's-Eye-View (BEV) space has recently emerged as a prevalent approach in the field of autonomous driving. Despite the demonstrated improvements in accuracy and velocity estimation compared to perspective view…

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…

Multi-view 3D detection based on BEV (bird-eye-view) has recently achieved significant improvements. However, the huge memory consumption of state-of-the-art models makes it hard to deploy them on vehicles, and the non-trivial latency will…

Achieving robust and real-time 3D perception is fundamental for autonomous vehicles. While most existing 3D perception methods prioritize detection accuracy, they often overlook critical aspects such as computational efficiency, onboard…

Efficient relocalization is essential for intelligent vehicles when GPS reception is insufficient or sensor-based localization fails. Recent advances in Bird's-Eye-View (BEV) segmentation allow for accurate estimation of local scene…

Recent advances in feature learning have shown that self-supervised vision foundation models can capture semantic correspondences but often lack awareness of underlying 3D geometry. GECO addresses this gap by producing geometrically…

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…

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…

Currently, detecting 3D objects in Bird's-Eye-View (BEV) is superior to other 3D detectors for autonomous driving and robotics. However, transforming image features into BEV necessitates special operators to conduct feature sampling. These…

A self-driving perception model aims to extract 3D semantic representations from multiple cameras collectively into the bird's-eye-view (BEV) coordinate frame of the ego car in order to ground downstream planner. Existing perception methods…

Semantic Bird's Eye View (BEV) maps offer a rich representation with strong occlusion reasoning for various decision making tasks in autonomous driving. However, most BEV mapping approaches employ a fully supervised learning paradigm that…

Recently, Bird's-Eye-View (BEV) representation has gained increasing attention in multi-view 3D object detection, which has demonstrated promising applications in autonomous driving. Although multi-view camera systems can be deployed at low…

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,…

Reconstructing coherent 3D geometry and appearance from unposed multi-view images is a fundamental yet challenging problem in computer vision. Most existing visual geometry foundation models predict explicit geometry by regressing…

The autonomous driving field has seen remarkable advancements in various topics, such as object recognition, trajectory prediction, and motion planning. However, current approaches face limitations in effectively comprehending the complex…