相关论文: DualCross: Cross-Modality Cross-Domain Adaptation …

Deep learning models such as convolutional neural networks and transformers have been widely applied to solve 3D object detection problems in the domain of autonomous driving. While existing models have achieved outstanding performance on…

Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…

Multi-view 3D object detection (MV3D-Det) in Bird-Eye-View (BEV) has drawn extensive attention due to its low cost and high efficiency. Although new algorithms for camera-only 3D object detection have been continuously proposed, most of…

Achieving reliable and safe autonomous driving in off-road environments requires accurate and efficient terrain traversability analysis. However, this task faces several challenges, including the scarcity of large-scale datasets tailored…

Bird's-Eye-View (BEV) perception has become a vital component of autonomous driving systems due to its ability to integrate multiple sensor inputs into a unified representation, enhancing performance in various downstream tasks. However,…

3D perception in LiDAR point clouds is crucial for a self-driving vehicle to properly act in 3D environment. However, manually labeling point clouds is hard and costly. There has been a growing interest in self-supervised pre-training of 3D…

Multi-View Multi-Object Tracking (MV-MOT) aims to localize and maintain consistent identities of objects observed by multiple sensors. This task is challenging, as viewpoint changes and occlusion disrupt identity consistency across views…

Drones equipped with cameras can significantly enhance human ability to perceive the world because of their remarkable maneuverability in 3D space. Ironically, object detection for drones has always been conducted in the 2D image space,…

The performance of domain adaptation technologies has not yet reached an ideal level in the current 3D object detection field for autonomous driving, which is mainly due to significant differences in the size of vehicles, as well as the…

Multi-camera perception methods in Bird's-Eye-View (BEV) have gained wide application in autonomous driving. However, due to the differences between roadside and vehicle-side scenarios, there currently lacks a multi-camera BEV solution in…

Visual bird's eye view (BEV) semantic segmentation helps autonomous vehicles understand the surrounding environment only from images, including static elements (e.g., roads) and dynamic elements (e.g., vehicles, pedestrians). However, the…

Bird's-Eye-View (BEV) maps have emerged as one of the most powerful representations for scene understanding due to their ability to provide rich spatial context while being easy to interpret and process. Such maps have found use in many…

Single camera 3D perception for traffic monitoring faces significant challenges due to occlusion and limited field of view. Moreover, fusing information from multiple cameras at the image feature level is difficult because of different view…

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…

The bird's-eye-view (BEV) representation allows robust learning of multiple tasks for autonomous driving including road layout estimation and 3D object detection. However, contemporary methods for unified road layout estimation and 3D…

Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent scale information from monocular cameras. Traditional methods…

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 propose Domain-Conditioned Meta-Contrastive Learning, a framework for improving the cross-domain generalization of vision-language models. While contrastive models such as CLIP achieve strong performance through large-scale training,…

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.…

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,…