相关论文: SkyEye: Self-Supervised Bird's-Eye-View Semantic M…

Spatial understanding of the semantics of the surroundings is a key capability needed by autonomous cars to enable safe driving decisions. Recently, purely vision-based solutions have gained increasing research interest. In particular,…

As bird's-eye-view (BEV) semantic segmentation is simple-to-visualize and easy-to-handle, it has been applied in autonomous driving to provide the surrounding information to downstream tasks. Inferring BEV semantic segmentation conditioned…

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…

We present TinyBEV, a unified, camera only Bird's Eye View (BEV) framework that distills the full-stack capabilities of a large planning-oriented teacher (UniAD [19]) into a compact, real-time student model. Unlike prior efficient camera…

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…

End-to-end models are emerging as the mainstream in autonomous driving perception. However, the inability to meticulously deconstruct their internal mechanisms results in diminished development efficacy and impedes the establishment of…

Perception is essential for autonomous driving system. Recent approaches based on Bird's-eye-view (BEV) and deep learning have made significant progress. However, there exists challenging issues including lengthy development cycles, poor…

3D Lane detection plays an important role in autonomous driving. Recent advances primarily build Birds-Eye-View (BEV) feature from front-view (FV) images to perceive 3D information of Lane more effectively. However, constructing accurate…

Recent advancements in bird's eye view (BEV) representations have shown remarkable promise for in-vehicle 3D perception. However, while these methods have achieved impressive results on standard benchmarks, their robustness in varied…

Camera-based end-to-end driving neural networks bring the promise of a low-cost system that maps camera images to driving control commands. These networks are appealing because they replace laborious hand engineered building blocks but…

Bird's-Eye View (BEV) features are popular intermediate scene representations shared by the 3D backbone and the detector head in LiDAR-based object detectors. However, little research has been done to investigate how to incorporate…

Closing the domain gap between training and deployment and incorporating multiple sensor modalities are two challenging yet critical topics for self-driving. Existing work only focuses on single one of the above topics, overlooking the…

Trajectory prediction is, naturally, a key task for vehicle autonomy. While the number of traffic rules is limited, the combinations and uncertainties associated with each agent's behaviour in real-world scenarios are nearly impossible to…

Currently, detecting 3D objects in Bird's-Eye-View (BEV) is superior to other 3D detectors for autonomous driving and robotics. However, transforming image features into BEV necessitates special operators to conduct feature sampling. These…

Using synthesized images to boost the performance of perception models is a long-standing research challenge in computer vision. It becomes more eminent in visual-centric autonomous driving systems with multi-view cameras as some long-tail…

The rise of multimodal large language models (MLLMs) has spurred interest in language-based driving tasks. However, existing research typically focuses on limited tasks and often omits key multi-view and temporal information which is…

Bird's-eye-view (BEV) images have been widely demonstrated to provide valuable prior information for navigation. Given the global information provided by such views, two key challenges remain: how to fully exploit this information and how…

Modern methods for vision-centric autonomous driving perception widely adopt the bird's-eye-view (BEV) representation to describe a 3D scene. Despite its better efficiency than voxel representation, it has difficulty describing the…

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…

Current research in semantic bird's-eye view segmentation for autonomous driving focuses solely on optimizing neural network models using a single dataset, typically nuScenes. This practice leads to the development of highly specialized…