相关论文: MagicDrive: Street View Generation with Diverse 3D…

Three-dimensional scene generation is crucial in computer vision, with applications spanning autonomous driving, gaming and the metaverse. Current methods either lack user control or rely on imprecise, non-intuitive conditions. In this…

We present DriveGen3D, a novel framework for generating high-quality and highly controllable dynamic 3D driving scenes that addresses critical limitations in existing methodologies. Current approaches to driving scene synthesis either…

Bird's-Eye View (BEV) maps provide a structured, top-down abstraction that is crucial for autonomous-driving perception. In this work, we employ Cross-View Transformers (CVT) for learning to map camera images to three BEV's channels - road,…

In this paper, we present BEVerse, a unified framework for 3D perception and prediction based on multi-camera systems. Unlike existing studies focusing on the improvement of single-task approaches, BEVerse features in producing…

Autonomous driving requires an understanding of the static environment from sensor data. Learned Bird's-Eye View (BEV) encoders are commonly used to fuse multiple inputs, and a vector decoder predicts a vectorized map representation from…

Bird's-Eye View (BEV) features are popular intermediate scene representations shared by the 3D backbone and the detector head in LiDAR-based object detectors. However, little research has been done to investigate how to incorporate…

Infrastructure-based perception plays a crucial role in intelligent transportation systems, offering global situational awareness and enabling cooperative autonomy. However, existing camera-based detection models often underperform in such…

3D perception is a critical problem in autonomous driving. Recently, the Bird-Eye-View (BEV) approach has attracted extensive attention, due to low-cost deployment and desirable vision detection capacity. However, the existing models ignore…

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,…

Road surface conditions, especially geometry profiles, enormously affect driving performance of autonomous vehicles. Vision-based online road reconstruction promisingly captures road information in advance. Existing solutions like monocular…

Vision-based Bird's Eye View (BEV) representation is an emerging perception formulation for autonomous driving. The core challenge is to construct BEV space with multi-camera features, which is a one-to-many ill-posed problem. Diving into…

Bird's-Eye-View (BEV) perception has become a foundational paradigm in autonomous driving, enabling unified spatial representations that support robust multi-sensor fusion and multi-agent collaboration. As autonomous vehicles transition…

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…

Large-scale scene data is essential for training and testing in robot learning. Neural reconstruction methods have promised the capability of reconstructing large physically-grounded outdoor scenes from captured sensor data. However, these…

Recent advancements in driving world models enable controllable generation of high-quality RGB videos or multimodal videos. Existing methods primarily focus on metrics related to generation quality and controllability. However, they often…

While most recent autonomous driving system focuses on developing perception methods on ego-vehicle sensors, people tend to overlook an alternative approach to leverage intelligent roadside cameras to extend the perception ability beyond…

Text-to-image generation has made remarkable progress with the emergence of diffusion models. However, it is still a difficult task to generate images for street views based on text, mainly because the road topology of street scenes is…

We present a method for generating Streetscapes-long sequences of views through an on-the-fly synthesized city-scale scene. Our generation is conditioned by language input (e.g., city name, weather), as well as an underlying map/layout…

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…

Urban scene synthesis with video generation models has recently shown great potential for autonomous driving. Existing video generation approaches to autonomous driving primarily focus on RGB video generation and lack the ability to support…