相关论文: BEV-Locator: An End-to-end Visual Semantic Localiz…

Expressing images with Multi-Resolution (MR) features has been widely adopted in many computer vision tasks. In this paper, we introduce the MR concept into Bird's-Eye-View (BEV) semantic segmentation for autonomous driving. This…

Online localization of road intersections is beneficial for autonomous vehicle localization, mapping and motion planning. Intersections offer strong landmarks for correcting vehicle pose estimation, anchoring new sensor data in up-to-date…

In recent years, fully differentiable end-to-end autonomous driving systems have become a research hotspot in the field of intelligent transportation. Among various research directions, automatic parking is particularly critical as it aims…

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…

Beam prediction is critical for reducing beam-training overhead in millimeter-wave (mmWave) systems, especially in high-mobility vehicular scenarios. This paper presents a BEV-Fusion based framework that unifies camera, LiDAR, radar, and…

Bird's Eye View (BEV) map prediction is essential for downstream autonomous driving tasks like trajectory prediction. In the past, this was accomplished through the use of a sophisticated sensor configuration that captured a surround view…

With the attention gained by camera-only 3D object detection in autonomous driving, methods based on Bird-Eye-View (BEV) representation especially derived from the forward view transformation paradigm, i.e., lift-splat-shoot (LSS), have…

In this work, we research and evaluate end-to-end learning of monocular semantic-metric occupancy grid mapping from weak binocular ground truth. The network learns to predict four classes, as well as a camera to bird's eye view mapping. At…

The choice of representation plays a key role in self-driving. Bird's eye view (BEV) representations have shown remarkable performance in recent years. In this paper, we propose to learn object-centric representations in BEV to distill a…

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…

We present a new method to localize a camera within a previously unseen environment perceived from an egocentric point of view. Although this is, in general, an ill-posed problem, humans can effortlessly and efficiently determine their…

Conventional human trajectory prediction models rely on clean curated data, requiring specialized equipment or manual labeling, which is often impractical for robotic applications. The existing predictors tend to overfit to clean…

Transforming image features from perspective view (PV) space to bird's-eye-view (BEV) space remains challenging in autonomous driving due to depth ambiguity and occlusion. Although several view transformation (VT) paradigms have been…

Accurate layout estimation is crucial for planning and navigation in robotics applications, such as self-driving. In this paper, we introduce the Stereo Bird's Eye ViewNetwork (SBEVNet), a novel supervised end-to-end framework for…

Despite tremendous advancements in bird's-eye view (BEV) perception, existing models fall short in generating realistic and coherent semantic map layouts, and they fail to account for uncertainties arising from partial sensor information…

While most recent autonomous driving system focuses on developing perception methods on ego-vehicle sensors, people tend to overlook an alternative approach to leverage intelligent roadside cameras to extend the perception ability beyond…

In this work, we address the problem of cross-view geo-localization, which estimates the geospatial location of a street view image by matching it with a database of geo-tagged aerial images. The cross-view matching task is extremely…

We present a visual localization framework based on novel deep attention aware features for autonomous driving that achieves centimeter level localization accuracy. Conventional approaches to the visual localization problem rely on…

Motion prediction is an important aspect for Autonomous Driving (AD) and Advance Driver Assistance Systems (ADAS). Current state-of-the-art motion prediction methods rely on High Definition (HD) maps for capturing the surrounding context of…

We introduce Perception Encoder (PE), a state-of-the-art vision encoder for image and video understanding trained via simple vision-language learning. Traditionally, vision encoders have relied on a variety of pretraining objectives, each…