相关论文: Multi-camera Bird's Eye View Perception for Autono…

Seeing only a tiny part of the whole is not knowing the full circumstance. Bird's-eye-view (BEV) perception, a process of obtaining allocentric maps from egocentric views, is restricted when using a narrow Field of View (FoV) alone. In this…

Cameras are a crucial exteroceptive sensor for self-driving cars as they are low-cost and small, provide appearance information about the environment, and work in various weather conditions. They can be used for multiple purposes such as…

The Bird's-Eye-View (BEV) representation is a critical factor that directly impacts the 3D object detection performance, but the traditional BEV grid representation induces quadratic computational cost as the spatial resolution grows. To…

Recently, the pure camera-based Bird's-Eye-View (BEV) perception removes expensive Lidar sensors, making it a feasible solution for economical autonomous driving. However, most existing BEV solutions either suffer from modest performance or…

In autonomous driving, perception systems are piv otal as they interpret sensory data to understand the envi ronment, which is essential for decision-making and planning. Ensuring the safety of these perception systems is fundamental for…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…

Expressing images with Multi-Resolution (MR) features has been widely adopted in many computer vision tasks. In this paper, we introduce the MR concept into Bird's-Eye-View (BEV) semantic segmentation for autonomous driving. This…

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…

Bird's-Eye-View (BEV) 3D Object Detection is a crucial multi-view technique for autonomous driving systems. Recently, plenty of works are proposed, following a similar paradigm consisting of three essential components, i.e., camera feature…

Perception systems in modern autonomous driving vehicles typically take inputs from complementary multi-modal sensors, e.g., LiDAR and cameras. However, in real-world applications, sensor corruptions and failures lead to inferior…

World models have attracted increasing attention in autonomous driving for their ability to forecast potential future scenarios. In this paper, we propose BEVWorld, a novel framework that transforms multimodal sensor inputs into a unified…

The advancement of vision-only Bird's-Eye-View (BEV) perception, a core paradigm for cost-effective autonomous driving, is hindered by the long-standing fundamental trade-off between perception accuracy and on-device deployment efficiency.…

Safe autonomous agents and mobile robots need fast real time 3D perception, especially for vulnerable road users (VRUs) such as pedestrians. We introduce a new bird's eye view (BEV) encoding, which maps the full 3D LiDAR point cloud into a…

A robust awareness of how dynamic scenes evolve is essential for Autonomous Driving systems, as they must accurately detect, track, and predict the behaviour of surrounding obstacles. Traditional perception pipelines that rely on modular…

Vision-centric joint perception and prediction (PnP) has become an emerging trend in autonomous driving research. It predicts the future states of the traffic participants in the surrounding environment from raw RGB images. However, it is…

Vehicle perception systems strive to achieve comprehensive and rapid visual interpretation of their surroundings for improved safety and navigation. We introduce YOLO-BEV, an efficient framework that harnesses a unique surrounding cameras…

3D object detection from multiple image views is a fundamental and challenging task for visual scene understanding. Owing to its low cost and high efficiency, multi-view 3D object detection has demonstrated promising application prospects.…

Accurate LiDAR-camera calibration is fundamental to fusing multi-modal perception in autonomous driving and robotic systems. Traditional calibration methods require extensive data collection in controlled environments and cannot compensate…

Due to the trending need of building autonomous robotic perception system, sensor fusion has attracted a lot of attention amongst researchers and engineers to make best use of cross-modality information. However, in order to build a robotic…

Bird's Eye View (BEV) semantic maps have recently garnered a lot of attention as a useful representation of the environment to tackle assisted and autonomous driving tasks. However, most of the existing work focuses on the fully supervised…