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

In autonomous driving, trajectory prediction is essential for safe and efficient navigation. While recent methods often rely on high-definition (HD) maps to provide structured environmental priors, such maps are costly to maintain,…

World models have attracted increasing attention in autonomous driving for their ability to forecast potential future scenarios. In this paper, we propose BEVWorld, a novel framework that transforms multimodal sensor inputs into a unified…

This paper introduces BEV-VLM, a novel approach for trajectory planning in autonomous driving that leverages Vision-Language Models (VLMs) with Bird's-Eye View (BEV) feature maps as visual input. Unlike conventional trajectory planning…

We describe a light-weight, weather and lighting invariant, Semantic Bird's Eye View (S-BEV) signature for vision-based vehicle re-localization. A topological map of S-BEV signatures is created during the first traversal of the route, which…

Multi-view image generation in autonomous driving demands consistent 3D scene understanding across camera views. Most existing methods treat this problem as a 2D image set generation task, lacking explicit 3D modeling. However, we argue…

3D visual perception tasks, including 3D detection and map segmentation based on multi-camera images, are essential for autonomous driving systems. In this work, we present a new framework termed BEVFormer, which learns unified BEV…

We present BEV-SLD, a LiDAR global localization method building on the Scene Landmark Detection (SLD) concept. Unlike scene-agnostic pipelines, our self-supervised approach leverages bird's-eye-view (BEV) images to discover scene-specific…

We present Dur360BEV, a novel spherical camera autonomous driving dataset equipped with a high-resolution 128-channel 3D LiDAR and a RTK-refined GNSS/INS system, along with a benchmark architecture designed to generate Bird-Eye-View (BEV)…

In target-driven navigation and autonomous exploration, reasonable prediction of unknown regions is crucial for efficient navigation and environment understanding. Existing methods mostly focus on single objects or geometric occupancy maps,…

Recently, the pure camera-based Bird's-Eye-View (BEV) perception removes expensive Lidar sensors, making it a feasible solution for economical autonomous driving. However, most existing BEV solutions either suffer from modest performance or…

The advancement of vision-only Bird's-Eye-View (BEV) perception, a core paradigm for cost-effective autonomous driving, is hindered by the long-standing fundamental trade-off between perception accuracy and on-device deployment efficiency.…

Autonomous navigation requires structured representation of the road network and instance-wise identification of the other traffic agents. Since the traffic scene is defined on the ground plane, this corresponds to scene understanding in…

The exploration of Bird's-Eye View (BEV) mapping technology has driven significant innovation in visual perception technology for autonomous driving. BEV mapping models need to be applied to the unlabeled real world, making the study of…

Most successful self-supervised learning methods are trained to align the representations of two independent views from the data. State-of-the-art methods in video are inspired by image techniques, where these two views are similarly…

Bird's eye view (BEV)-based 3D perception plays a crucial role in autonomous driving applications. The rise of large language models has spurred interest in BEV-based captioning to understand object behavior in the surrounding environment.…

Generating annotations for bird's-eye-view (BEV) segmentation presents significant challenges due to the scenes' complexity and the high manual annotation cost. In this work, we address these challenges by leveraging the abundance of…

An accurate understanding of a self-driving vehicle's surrounding environment is crucial for its navigation system. To enhance the effectiveness of existing algorithms and facilitate further research, it is essential to provide…

Supervised learning based methods for monocular depth estimation usually require large amounts of extensively annotated training data. In the case of aerial imagery, this ground truth is particularly difficult to acquire. Therefore, in this…

We tackle a new problem of multi-view camera and subject registration in the bird's eye view (BEV) without pre-given camera calibration. This is a very challenging problem since its only input is several RGB images from different…

Vector maps are essential in autonomous driving for tasks like localization and planning, yet their creation and maintenance are notably costly. While recent advances in online vector map generation for autonomous vehicles are promising,…