相关论文: QD-BEV : Quantization-aware View-guided Distillati…

Determining accurate bird's eye view (BEV) positions of objects and tracks in a scene is vital for various perception tasks including object interactions mapping, scenario extraction etc., however, the level of supervision required to…

Multi-view 3D object detection is becoming popular in autonomous driving due to its high effectiveness and low cost. Most of the current state-of-the-art detectors follow the query-based bird's-eye-view (BEV) paradigm, which benefits from…

Recently, transformer-based language models such as BERT have shown tremendous performance improvement for a range of natural language processing tasks. However, these language models usually are computation expensive and memory intensive…

In current research, Bird's-Eye-View (BEV)-based transformers are increasingly utilized for multi-camera 3D object detection. Traditional models often employ random queries as anchors, optimizing them successively. Recent advancements…

To address the larger computation and storage requirements associated with large video datasets, video dataset distillation aims to capture spatial and temporal information in a significantly smaller dataset, such that training on the…

Modern autonomous driving systems increasingly rely on mixed camera configurations with pinhole and fisheye cameras for full view perception. However, Bird's-Eye View (BEV) 3D object detection models are predominantly designed for pinhole…

Multi-view camera-based 3D perception can be conducted using bird's eye view (BEV) features obtained through perspective view-to-BEV transformations. Several studies have shown that the performance of these 3D perception methods can be…

Knowledge distillation (KD) has been a ubiquitous method for model compression to strengthen the capability of a lightweight model with the transferred knowledge from the teacher. In particular, KD has been employed in quantization-aware…

Vision Transformer (ViT)-based models have shown state-of-the-art performance (e.g., accuracy) in vision-based AI tasks. However, realizing their capability in resource-constrained embedded AI systems is challenging due to their inherent…

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…

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…

In the landscape of autonomous driving, Bird's-Eye-View (BEV) representation has recently garnered substantial academic attention, serving as a transformative framework for the fusion of multi-modal sensor inputs. This BEV paradigm…

A key challenge for autonomous driving lies in maintaining real-time situational awareness regarding surrounding obstacles under strict latency constraints. The high processing requirements coupled with limited onboard computational…

Vision Transformers (ViTs) have recently garnered considerable attention, emerging as a promising alternative to convolutional neural networks (CNNs) in several vision-related applications. However, their large model sizes and high…

Accurate 3D bird's-eye view (BEV) object detection is essential for autonomous driving, and depends strongly on effective multimodal representations from complementary sensors such as cameras and LiDAR. Multimodal masked autoencoders have…

Building 3D perception systems for autonomous vehicles that do not rely on high-density LiDAR is a critical research problem because of the expense of LiDAR systems compared to cameras and other sensors. Recent research has developed a…

In recent years, transformer-based detectors have demonstrated remarkable performance in 2D visual perception tasks. However, their performance in multi-view 3D object detection remains inferior to the state-of-the-art (SOTA) of…

The application of vision-based multi-view environmental perception system has been increasingly recognized in autonomous driving technology, especially the BEV-based models. Current state-of-the-art solutions primarily encode image…

Recent advances in 3D object detection (3DOD) have obtained remarkably strong results for LiDAR-based models. In contrast, surround-view 3DOD models based on multiple camera images underperform due to the necessary view transformation of…

Detection of moving objects is a very important task in autonomous driving systems. After the perception phase, motion planning is typically performed in Bird's Eye View (BEV) space. This would require projection of objects detected on the…