相关论文: LaRa: Latents and Rays for Multi-Camera Bird's-Eye…

Autonomous driving requires efficient reasoning about the Spatio-temporal nature of the semantics of the scene. Recent approaches have successfully amalgamated the traditional modular architecture of an autonomous driving stack comprising…

Recent advances in Vision-Language-Action (VLA) models have shown promising capabilities in autonomous driving by leveraging the understanding and reasoning strengths of Large Language Models(LLMs).However, our empirical analysis reveals…

In the field of autonomous driving and mobile robotics, there has been a significant shift in the methods used to create Bird's Eye View (BEV) representations. This shift is characterised by using transformers and learning to fuse…

LiDAR representation learning aims to extract rich structural and semantic information from large-scale, readily available datasets, reducing reliance on costly human annotations. However, existing LiDAR representation strategies often…

End-to-end (E2E) autonomous driving heavily relies on closed-loop simulation, where perception, planning, and control are jointly trained and evaluated in interactive environments. Yet, most existing datasets are collected from the real…

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…

LiDAR semantic segmentation models are typically trained from random initialization as universal pre-training is hindered by the lack of large, diverse datasets. Moreover, most point cloud segmentation architectures incorporate custom…

Sim2Real transfer has gained popularity because it helps transfer from inexpensive simulators to real world. This paper presents a novel system that fuses components in a traditional World Model into a robust system, trained entirely within…

We present BEVCon, a simple yet effective contrastive learning framework designed to improve Bird's Eye View (BEV) perception in autonomous driving. BEV perception offers a top-down-view representation of the surrounding environment, making…

Learning powerful representations in bird's-eye-view (BEV) for perception tasks is trending and drawing extensive attention both from industry and academia. Conventional approaches for most autonomous driving algorithms perform detection,…

Transformers have revolutionized Computer Vision (CV) through self-attention mechanisms. However, their complexity makes latent token representations difficult to interpret. We introduce ULTra, a framework for interpreting Transformer…

A semantic map of the road scene, covering fundamental road elements, is an essential ingredient in autonomous driving systems. It provides important perception foundations for positioning and planning when rendered in the Bird's-Eye-View…

3D perception tasks, such as 3D object detection and Bird's-Eye-View (BEV) segmentation using multi-camera images, have drawn significant attention recently. Despite the fact that accurately estimating both semantic and 3D scene layouts are…

Autonomous driving requires accurate reasoning of the location of objects from raw sensor data. Recent end-to-end learning methods go from raw sensor data to a trajectory output via Bird's Eye View(BEV) segmentation as an interpretable…

In this work, we present SpaRC, a novel Sparse fusion transformer for 3D perception that integrates multi-view image semantics with Radar and Camera point features. The fusion of radar and camera modalities has emerged as an efficient…

Existing LiDAR-based 3D object detection methods for autonomous driving scenarios mainly adopt the training-from-scratch paradigm. Unfortunately, this paradigm heavily relies on large-scale labeled data, whose collection can be expensive…

Bird's-Eye View (BEV) Perception has received increasing attention in recent years as it provides a concise and unified spatial representation across views and benefits a diverse set of downstream driving applications. At the same time,…

Bird's-eye view (BEV) object detection has become important for advanced automotive 3D radar-based perception systems. However, the inherently sparse and non-deterministic nature of radar data limits the effectiveness of traditional…

We present a novel bird's-eye-view (BEV) detector with perspective supervision, which converges faster and better suits modern image backbones. Existing state-of-the-art BEV detectors are often tied to certain depth pre-trained backbones…

Vision-Language Navigation (VLN) requires agents to follow natural language instructions in partially observed 3D environments, motivating map representations that aggregate spatial context beyond local perception. However, most existing…