相关论文: Objects as Spatio-Temporal 2.5D points

Detecting pedestrians and predicting future trajectories for them are critical tasks for numerous applications, such as autonomous driving. Previous methods either treat the detection and prediction as separate tasks or simply add a…

We introduce Patch Refinement a two-stage model for accurate 3D object detection and localization from point cloud data. Patch Refinement is composed of two independently trained Voxelnet-based networks, a Region Proposal Network (RPN) and…

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…

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,…

Vision-based 3D Detection task is fundamental task for the perception of an autonomous driving system, which has peaked interest amongst many researchers and autonomous driving engineers. However achieving a rather good 3D BEV (Bird's Eye…

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…

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…

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…

Accurate 3D bird's-eye view (BEV) object detection is essential for autonomous driving, and depends strongly on effective multimodal representations from complementary sensors such as cameras and LiDAR. Multimodal masked autoencoders have…

Collaborative perception allows agents to enhance their perceptual capabilities by exchanging intermediate features. Existing methods typically organize these intermediate features as 2D bird's-eye-view (BEV) representations, which discard…

Detecting 3D objects from a single RGB image is intrinsically ambiguous, thus requiring appropriate prior knowledge and intermediate representations as constraints to reduce the uncertainties and improve the consistencies between the 2D…

Vision-centric bird-eye-view (BEV) perception has shown promising potential in autonomous driving. Recent works mainly focus on improving efficiency or accuracy but neglect the challenges when facing environment changing, resulting in…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

Detecting objects and estimating their viewpoints in images are key tasks of 3D scene understanding. Recent approaches have achieved excellent results on very large benchmarks for object detection and viewpoint estimation. However,…

In this work, we propose \textit{MVFuseNet}, a novel end-to-end method for joint object detection and motion forecasting from a temporal sequence of LiDAR data. Most existing methods operate in a single view by projecting data in either…

3D object detection is one of the most important tasks for the perception systems of autonomous vehicles. With the significant success in the field of 2D object detection, several monocular image based 3D object detection algorithms have…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

Single frame data contains finite information which limits the performance of the existing vision-based multi-camera 3D object detection paradigms. For fundamentally pushing the performance boundary in this area, a novel paradigm dubbed…

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…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…