相关论文: MapPrior: Bird's-Eye View Map Layout Estimation wi…

Camera-only Bird's Eye View (BEV) has demonstrated great potential in environment perception in a 3D space. However, most existing studies were conducted under a supervised setup which cannot scale well while handling various new data.…

Accurate and reliable spatial and motion information plays a pivotal role in autonomous driving systems. However, object-level perception models struggle with handling open scenario categories and lack precise intrinsic geometry. On the…

Multi-view camera-only 3D object detection largely follows two primary paradigms: exploiting bird's-eye-view (BEV) representations or focusing on perspective-view (PV) features, each with distinct advantages. Although several recent…

Radars and cameras belong to the most frequently used sensors for advanced driver assistance systems and automated driving research. However, there has been surprisingly little research on radar-camera fusion with neural networks. One of…

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…

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…

Beam prediction is critical for reducing beam-training overhead in millimeter-wave (mmWave) systems, especially in high-mobility vehicular scenarios. This paper presents a BEV-Fusion based framework that unifies camera, LiDAR, radar, and…

In autonomous driving, there is growing interest in end-to-end online vectorized map perception in bird's-eye-view (BEV) space, with an expectation that it could replace traditional high-cost offline high-definition (HD) maps. However, the…

Prediction, decision-making, and motion planning are essential for autonomous driving. In most contemporary works, they are considered as individual modules or combined into a multi-task learning paradigm with a shared backbone but separate…

Collaborative perception allows agents to enhance their perceptual capabilities by exchanging intermediate features. Existing methods typically organize these intermediate features as 2D bird's-eye-view (BEV) representations, which discard…

Generating a bird's eye view of road users is beneficial for a variety of applications, including navigation, detecting agent conflicts, and measuring space occupancy, as well as the ability to utilise the metric system to measure distances…

Robust and accurate perception of dynamic objects and map elements is crucial for autonomous vehicles performing safe navigation in complex traffic scenarios. While vision-only methods have become the de facto standard due to their…

A self-driving perception model aims to extract 3D semantic representations from multiple cameras collectively into the bird's-eye-view (BEV) coordinate frame of the ego car in order to ground downstream planner. Existing perception methods…

Accurate object detection and prediction are critical to ensure the safety and efficiency of self-driving architectures. Predicting object trajectories and occupancy enables autonomous vehicles to anticipate movements and make decisions…

An accurate understanding of a self-driving vehicle's surrounding environment is crucial for its navigation system. To enhance the effectiveness of existing algorithms and facilitate further research, it is essential to provide…

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…

Motion prediction is an important aspect for Autonomous Driving (AD) and Advance Driver Assistance Systems (ADAS). Current state-of-the-art motion prediction methods rely on High Definition (HD) maps for capturing the surrounding context of…

Semantic segmentation in bird's eye view (BEV) is an important task for autonomous driving. Though this task has attracted a large amount of research efforts, it is still challenging to flexibly cope with arbitrary (single or multiple)…

For low-altitude economy (LAE), fast and accurate beam prediction between high-mobility unmanned aerial vehicles (UAVs) and ground base stations is of paramount importance, which ensures seamless coverage and reliable communications.…

In spite of the recent advancements in multi-object tracking, occlusion poses a significant challenge. Multi-camera setups have been used to address this challenge by providing a comprehensive coverage of the scene. Recent multi-view…