相关论文: Leveraging BEV Representation for 360-degree Visua…

Multi-sensor fusion is crucial for accurate 3D object detection in autonomous driving, with cameras and LiDAR being the most commonly used sensors. However, existing methods perform sensor fusion in a single view by projecting features from…

Autonomous vehicles (AV) require that neural networks used for perception be robust to different viewpoints if they are to be deployed across many types of vehicles without the repeated cost of data collection and labeling for each. AV…

This paper introduces InverseMatrixVT3D, an efficient method for transforming multi-view image features into 3D feature volumes for 3D semantic occupancy prediction. Existing methods for constructing 3D volumes often rely on depth…

View Transformation Module (VTM), where transformations happen between multi-view image features and Bird-Eye-View (BEV) representation, is a crucial step in camera-based BEV perception systems. Currently, the two most prominent VTM…

The integration of Large Language Models (LLMs) into autonomous driving has attracted growing interest for their strong reasoning and semantic understanding abilities, which are essential for handling complex decision-making and long-tail…

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…

Most previous 3D object detection methods that leverage the multi-modality of LiDAR and cameras utilize the Bird's Eye View (BEV) space for intermediate feature representation. However, this space uses a low x, y-resolution and sacrifices…

3D object detection plays a pivotal role in autonomous driving and robotics, demanding precise interpretation of Bird's Eye View (BEV) images. The dynamic nature of real-world environments necessitates the use of dynamic query mechanisms in…

Visual place recognition (VPR) is the problem of recognising a previously visited location using visual information. Many attempts to improve the performance of VPR methods have been made in the literature. One approach that has received…

Low-overhead visual place recognition (VPR) is a highly active research topic. Mobile robotics applications often operate under low-end hardware, and even more hardware capable systems can still benefit from freeing up onboard system…

Birds-Eye-View (BEV) segmentation aims to establish a spatial mapping from the perspective view to the top view and estimate the semantic maps from monocular images. Recent studies have encountered difficulties in view transformation due to…

Localization in GNSS-denied and GNSS-degraded environments is a challenge for the safe widespread deployment of autonomous vehicles. Such GNSS-challenged environments require alternative methods for robust localization. In this work, we…

Achieving robust and real-time 3D perception is fundamental for autonomous vehicles. While most existing 3D perception methods prioritize detection accuracy, they often overlook critical aspects such as computational efficiency, onboard…

More and more research works fuse the LiDAR and camera information to improve the 3D object detection of the autonomous driving system. Recently, a simple yet effective fusion framework has achieved an excellent detection performance,…

Bird's eye view (BEV) semantic segmentation plays a crucial role in spatial sensing for autonomous driving. Although recent literature has made significant progress on BEV map understanding, they are all based on single-agent camera-based…

Recent 3D object detectors typically utilize multi-sensor data and unify multi-modal features in the shared bird's-eye view (BEV) representation space. However, our empirical findings indicate that previous methods have limitations in…

Autonomous vehicle perception systems have traditionally relied on costly LiDAR sensors to generate precise environmental representations. In this paper, we propose a camera-only perception framework that produces Bird's Eye View (BEV) maps…

With the prevalence of LiDAR sensors in autonomous driving, 3D object tracking has received increasing attention. In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in consecutive frames…

Autonomous agents such as cars, robots and drones need to precisely localize themselves in diverse environments, including in GPS-denied indoor environments. One approach for precise localization is visual place recognition (VPR), which…

Autonomous driving requires understanding infrastructure elements, such as lanes and crosswalks. To navigate safely, this understanding must be derived from sensor data in real-time and needs to be represented in vectorized form. Learned…