相关论文: Group Equivariant BEV for 3D Object Detection

Object detection algorithms are pivotal components of unmanned aerial vehicle (UAV) imaging systems, extensively employed in complex fields. However, images captured by high-mobility UAVs often suffer from motion blur cases, which…

A recent sensor fusion in a Bird's Eye View (BEV) space has shown its utility in various tasks such as 3D detection, map segmentation, etc. However, the approach struggles with inaccurate camera BEV estimation, and a perception of distant…

Tracking vehicles in LIDAR point clouds is a challenging task due to the sparsity of the data and the dense search space. The lack of structure in point clouds impedes the use of convolution filters usually employed in 2D object tracking.…

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…

Several popular approaches to 3D vision tasks process multiple views of the input independently with deep neural networks pre-trained on natural images, achieving view permutation invariance through a single round of pooling over all views.…

3D occupancy perception technology aims to observe and understand dense 3D environments for autonomous vehicles. Owing to its comprehensive perception capability, this technology is emerging as a trend in autonomous driving perception…

Bird's-Eye-View (BEV) perception has become a foundational paradigm in autonomous driving, enabling unified spatial representations that support robust multi-sensor fusion and multi-agent collaboration. As autonomous vehicles transition…

Multi-UAV collaborative 3D detection enables accurate and robust perception by fusing multi-view observations from aerial platforms, offering significant advantages in coverage and occlusion handling, while posing new challenges for…

In human-centered environments such as restaurants, homes, and warehouses, robots often face challenges in accurately recognizing 3D objects. These challenges stem from the complexity and variability of these environments, including diverse…

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…

Bird's eye view (BEV) representation has emerged as a dominant solution for describing 3D space in autonomous driving scenarios. However, objects in the BEV representation typically exhibit small sizes, and the associated point cloud…

In this paper, we introduce the task of multi-view RGB-based 3D object detection as an end-to-end optimization problem. To address this problem, we propose ImVoxelNet, a novel fully convolutional method of 3D object detection based on…

LiDAR-based 3D object detection plays a crucial role in modern autonomous driving systems. LiDAR data often exhibit severe changes in properties across different observation ranges. In this paper, we explore cross-range adaptation for 3D…

Cross-view geo-localization for Unmanned Aerial Vehicles (UAVs) operating in GNSS-denied environments remains challenging due to the severe geometric discrepancy between oblique UAV imagery and orthogonal satellite maps. Most existing…

Camera-based 3D object detection and tracking are essential for perception in autonomous driving. Current state-of-the-art approaches often rely exclusively on either perspective-view (PV) or bird's-eye-view (BEV) features, limiting their…

Object detection with 3D radar is essential for 360-degree automotive perception, but radar's long wavelengths produce sparse and irregular reflections that challenge traditional grid and sequence-based convolutional and transformer…

Semantic scene segmentation from a bird's-eye-view (BEV) perspective plays a crucial role in facilitating planning and decision-making for mobile robots. Although recent vision-only methods have demonstrated notable advancements in…

LiDAR-based 3D object detectors often struggle to detect far-field objects due to the sparsity of point clouds at long ranges, which limits the availability of reliable geometric cues. To address this, prior approaches augment LiDAR data…

Sharing collective perception messages (CPM) between vehicles is investigated to decrease occlusions so as to improve the perception accuracy and safety of autonomous driving. However, highly accurate data sharing and low communication…

Identifying moving objects is an essential capability for autonomous systems, as it provides critical information for pose estimation, navigation, collision avoidance, and static map construction. In this paper, we present MotionBEV, a fast…