相关论文: Knowledge Distillation from 3D to Bird's-Eye-View …

Resource-constrained perception systems such as edge computing and vision-for-robotics require vision models to be both accurate and lightweight in computation and memory usage. While knowledge distillation is a proven strategy to enhance…

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…

Previous knowledge distillation (KD) methods mostly focus on compressing network architectures, which is not thorough enough in deployment as some costs like transmission bandwidth and imaging equipment are related to the image size.…

2D RGB images and 3D LIDAR point clouds provide complementary knowledge for the perception system of autonomous vehicles. Several 2D and 3D fusion methods have been explored for the LIDAR semantic segmentation task, but they suffer from…

Accurate 3D scene understanding in outdoor environments heavily relies on high-quality point clouds. However, LiDAR-scanned data often suffer from extreme sparsity, severely hindering downstream 3D perception tasks. Existing point cloud…

Bird's eye view (BEV) is widely adopted by most of the current point cloud detectors due to the applicability of well-explored 2D detection techniques. However, existing methods obtain BEV features by simply collapsing voxel or point…

Camera-based temporal 3D object detection has shown impressive results in autonomous driving, with offline models improving accuracy by using future frames. Knowledge distillation (KD) can be an appealing framework for transferring rich…

Autonomous driving is an important and safety-critical task, and recent advances in LLMs/VLMs have opened new possibilities for reasoning and planning in this domain. However, large models demand substantial GPU memory and exhibit high…

Bird's-eye-view (BEV) semantic segmentation is becoming crucial in autonomous driving systems. It realizes ego-vehicle surrounding environment perception by projecting 2D multi-view images into 3D world space. Recently, BEV segmentation has…

Identifying labels that did not appear during training, known as multi-label zero-shot learning, is a non-trivial task in computer vision. To this end, recent studies have attempted to explore the multi-modal knowledge of vision-language…

We explore Bird's-Eye View (BEV) generation, converting a BEV map into its corresponding multi-view street images. Valued for its unified spatial representation aiding multi-sensor fusion, BEV is pivotal for various autonomous driving…

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

For visual recognition, knowledge distillation typically involves transferring knowledge from a large, well-trained teacher model to a smaller student model. In this paper, we introduce an effective method to distill knowledge from an…

Camera-based bird-eye-view (BEV) perception paradigm has made significant progress in the autonomous driving field. Under such a paradigm, accurate BEV representation construction relies on reliable depth estimation for multi-camera images.…

Large-scale 3D vision-language models (VLMs) like LLaVA-3D offer strong spatial reasoning but are difficult to deploy due to high computational costs. We propose a knowledge distillation framework that transfers spatial reasoning from a 7B…

3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context…

Knowledge distillation, transferring knowledge from a teacher model to a student model, has emerged as a powerful technique in neural machine translation for compressing models or simplifying training targets. Knowledge distillation…

In recent years 3D object detection from LiDAR point clouds has made great progress thanks to the development of deep learning technologies. Although voxel or point based methods are popular in 3D object detection, they usually involve…

Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…

Indoor scene semantic parsing from RGB images is very challenging due to occlusions, object distortion, and viewpoint variations. Going beyond prior works that leverage geometry information, typically paired depth maps, we present a new…