相关论文: Vision-based Uneven BEV Representation Learning wi…

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…

Recently, LSS-based multi-view 3D object detection provides an economical and deployment-friendly solution for autonomous driving. However, all the existing LSS-based methods transform multi-view image features into a Cartesian…

Although multiview fusion has demonstrated potential in LiDAR segmentation, its dependence on computationally intensive point-based interactions, arising from the lack of fixed correspondences between views such as range view and Bird's-Eye…

This paper investigates the advantages of using Bird's Eye View (BEV) representation in 360-degree visual place recognition (VPR). We propose a novel network architecture that utilizes the BEV representation in feature extraction, feature…

Bird's-Eye-View (BEV) perception serves as a cornerstone for autonomous driving, offering a unified spatial representation that fuses surrounding-view images to enable reasoning for various downstream tasks, such as semantic segmentation,…

Integrating LiDAR and camera information into Bird's-Eye-View (BEV) representation has emerged as a crucial aspect of 3D object detection in autonomous driving. However, existing methods are susceptible to the inaccurate calibration…

Recently, polar coordinate-based representations have shown promise for 3D perceptual tasks. Compared to Cartesian methods, polar grids provide a viable alternative, offering better detail preservation in nearby spaces while covering larger…

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…

All organisms make temporal predictions, and their evolutionary fitness level depends on the accuracy of these predictions. In the context of visual perception, the motions of both the observer and objects in the scene structure the…

In this paper, we present a deep coupled learning frame- work to address the problem of matching polarimetric ther- mal face photos against a gallery of visible faces. Polariza- tion state information of thermal faces provides the miss- ing…

Existing approaches to drone visual geo-localization predominantly adopt the image-based setting, where a single drone-view snapshot is matched with images from other platforms. Such task formulation, however, underutilizes the inherent…

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…

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…

Monocular surface normal estimators trained on large-scale RGB-normal data often perform poorly in the edge cases of reflective, textureless, and dark surfaces. Polarization encodes surface orientation independently of texture and albedo,…

Vision-Language Models (VLMs) learn joint representations by mapping images and text into a shared latent space. However, recent research highlights that deterministic embeddings from standard VLMs often struggle to capture the…

Recently, perception task based on Bird's-Eye View (BEV) representation has drawn more and more attention, and BEV representation is promising as the foundation for next-generation Autonomous Vehicle (AV) perception. However, most existing…

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…

Cross-view geo-localization confronts significant challenges due to large perspective changes, especially when the ground-view query image has a limited field of view with unknown orientation. To bridge the cross-view domain gap, we for the…

Multi-UAV collaborative 3D detection enables accurate and robust perception by fusing multi-view observations from aerial platforms, offering significant advantages in coverage and occlusion handling, while posing new challenges for…

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,…