相关论文: Multi-Camera Calibration Free BEV Representation f…

Transformer-based models have revolutionized the field of image super-resolution (SR) by harnessing their inherent ability to capture complex contextual features. The overlapping rectangular shifted window technique used in transformer…

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…

Multi-sensor modal fusion has demonstrated strong advantages in 3D object detection tasks. However, existing methods that fuse multi-modal features require transforming features into the bird's eye view space and may lose certain…

Camera-based 3D object detection in Bird's Eye View (BEV) is one of the most important perception tasks in autonomous driving. Earlier methods rely on dense BEV features, which are costly to construct. More recent works explore sparse…

Vision-language models have been key to the development of open-vocabulary 2D semantic segmentation. Lifting these models from 2D images to 3D scenes, however, remains a challenging problem. Existing approaches typically back-project and…

Extracting robust feature representation is critical for object re-identification to accurately identify objects across non-overlapping cameras. Although having a strong representation ability, the Vision Transformer (ViT) tends to overfit…

We introduce Attention Free Transformer (AFT), an efficient variant of Transformers that eliminates the need for dot product self attention. In an AFT layer, the key and value are first combined with a set of learned position biases, the…

Semantic segmentation is an effective way to perform scene understanding. Recently, segmentation in 3D Bird's Eye View (BEV) space has become popular as its directly used by drive policy. However, there is limited work on BEV segmentation…

Fusing the camera and LiDAR information has become a de-facto standard for 3D object detection tasks. Current methods rely on point clouds from the LiDAR sensor as queries to leverage the feature from the image space. However, people…

Accurate motion understanding of the dynamic objects within the scene in bird's-eye-view (BEV) is critical to ensure a reliable obstacle avoidance system and smooth path planning for autonomous vehicles. However, this task has received…

The integration of complementary characteristics from camera and radar data has emerged as an effective approach in 3D object detection. However, such fusion-based methods remain unexplored for place recognition, an equally important task…

This article introduces BEVPlace++, a novel, fast, and robust LiDAR global localization method for unmanned ground vehicles. It uses lightweight convolutional neural networks (CNNs) on Bird's Eye View (BEV) image-like representations of…

Considering the problem of novel view synthesis (NVS) from only a set of 2D images, we simplify the training process of Neural Radiance Field (NeRF) on forward-facing scenes by removing the requirement of known or pre-computed camera…

A robust awareness of how dynamic scenes evolve is essential for Autonomous Driving systems, as they must accurately detect, track, and predict the behaviour of surrounding obstacles. Traditional perception pipelines that rely on modular…

Accurate object detection and prediction are critical to ensure the safety and efficiency of self-driving architectures. Predicting object trajectories and occupancy enables autonomous vehicles to anticipate movements and make decisions…

The perception of autonomous vehicles has to be efficient, robust, and cost-effective. However, cameras are not robust against severe weather conditions, lidar sensors are expensive, and the performance of radar-based perception is still…

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…

The dominant multi-camera 3D detection paradigm is based on explicit 3D feature construction, which requires complicated indexing of local image-view features via 3D-to-2D projection. Other methods implicitly introduce geometric positional…

Collaborative perception leverages rich visual observations from multiple robots to extend a single robot's perception ability beyond its field of view. Many prior works receive messages broadcast from all collaborators, leading to a…

Recently, the transformer model has been successfully employed for the multi-view 3D reconstruction problem. However, challenges remain on designing an attention mechanism to explore the multiview features and exploit their relations for…