相关论文: AeDet: Azimuth-invariant Multi-view 3D Object Dete…

Determining accurate bird's eye view (BEV) positions of objects and tracks in a scene is vital for various perception tasks including object interactions mapping, scenario extraction etc., however, the level of supervision required to…

Camera-based 3D object detection and tracking are central to autonomous driving, yet precise 3D object localization remains fundamentally constrained by depth ambiguity when no expensive, depth-rich online LiDAR is available at inference.…

Input aggregation is a simple technique used by state-of-the-art LiDAR 3D object detectors to improve detection. However, increasing aggregation is known to have diminishing returns and even performance degradation, due to objects…

Three-dimensional perception from multi-view cameras is a crucial component in autonomous driving systems, which involves multiple tasks like 3D object detection and bird's-eye-view (BEV) semantic segmentation. To improve perception…

Simultaneous perception of 2D objects in perspective view and 3D objects in Bird's Eye View (BEV) is challenging for multi-camera autonomous driving. Existing two-stage pipelines use 2D results only as a one-time cue for 3D detection. We…

3D lane detection which plays a crucial role in vehicle routing, has recently been a rapidly developing topic in autonomous driving. Previous works struggle with practicality due to their complicated spatial transformations and inflexible…

We propose Radar-Camera fusion transformer (RaCFormer) to boost the accuracy of 3D object detection by the following insight. The Radar-Camera fusion in outdoor 3D scene perception is capped by the image-to-BEV transformation--if the depth…

3D object detection plays a pivotal role in autonomous driving and robotics, demanding precise interpretation of Bird's Eye View (BEV) images. The dynamic nature of real-world environments necessitates the use of dynamic query mechanisms in…

The emergence of Multi-Camera 3D Object Detection (MC3D-Det), facilitated by bird's-eye view (BEV) representation, signifies a notable progression in 3D object detection. Scaling MC3D-Det training effectively accommodates varied camera…

Bird-eye-view (BEV) based methods have made great progress recently in multi-view 3D detection task. Comparing with BEV based methods, sparse based methods lag behind in performance, but still have lots of non-negligible merits. To push…

Safe autonomous agents and mobile robots need fast real time 3D perception, especially for vulnerable road users (VRUs) such as pedestrians. We introduce a new bird's eye view (BEV) encoding, which maps the full 3D LiDAR point cloud into a…

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…

Most automated driving systems comprise a diverse sensor set, including several cameras, Radars, and LiDARs, ensuring a complete 360\deg coverage in near and far regions. Unlike Radar and LiDAR, which measure directly in 3D, cameras capture…

Depth estimation is a crucial step for 3D reconstruction with panorama images in recent years. Panorama images maintain the complete spatial information but introduce distortion with equirectangular projection. In this paper, we propose an…

Due to the success of Bidirectional Encoder Representations from Transformers (BERT) in natural language process (NLP), the multi-head attention transformer has been more and more prevalent in computer-vision researches (CV). However, it…

Rotation equivariance has recently become a strongly desired property in the 3D deep learning community. Yet most existing methods focus on equivariance regarding a global input rotation while ignoring the fact that rotation symmetry has…

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…

Environmental perception with the multi-modal fusion of radar and camera is crucial in autonomous driving to increase accuracy, completeness, and robustness. This paper focuses on utilizing millimeter-wave (MMW) radar and camera sensor…

With the rise of robotics, LiDAR-based 3D object detection has garnered significant attention in both academia and industry. However, existing datasets and methods predominantly focus on vehicle-mounted platforms, leaving other autonomous…

The Bird's-Eye-View (BEV) representation is a critical factor that directly impacts the 3D object detection performance, but the traditional BEV grid representation induces quadratic computational cost as the spatial resolution grows. To…