相关论文: QE-BEV: Query Evolution for Bird's Eye View Object…

3D object detection in driving scenarios faces the challenge of complex road environments, which can lead to the loss or incompleteness of key features, thereby affecting perception performance. To address this issue, we propose an advanced…

Bird's Eye View (BEV) is a popular representation for processing 3D point clouds, and by its nature is fundamentally sparse. Motivated by the computational limitations of mobile robot platforms, we create a fast, high-performance BEV 3D…

In the field of autonomous driving, accurate and comprehensive perception of the 3D environment is crucial. Bird's Eye View (BEV) based methods have emerged as a promising solution for 3D object detection using multi-view images as input.…

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) Perception has received increasing attention in recent years as it provides a concise and unified spatial representation across views and benefits a diverse set of downstream driving applications. At the same time,…

Roadside camera-driven 3D object detection is a crucial task in intelligent transportation systems, which extends the perception range beyond the limitations of vision-centric vehicles and enhances road safety. While previous studies have…

Semantic segmentation in bird's eye view (BEV) plays a crucial role in autonomous driving. Previous methods usually follow an end-to-end pipeline, directly predicting the BEV segmentation map from monocular RGB inputs. However, the…

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…

Driving World Models (DWMs) have become essential for autonomous driving by enabling future scene prediction. However, existing DWMs are limited to scene generation and fail to incorporate scene understanding, which involves interpreting…

In this paper, we propose a new paradigm, named Historical Object Prediction (HoP) for multi-view 3D detection to leverage temporal information more effectively. The HoP approach is straightforward: given the current timestamp t, we…

Bounded by the inherent ambiguity of depth perception, contemporary camera-based 3D object detection methods fall into the performance bottleneck. Intuitively, leveraging temporal multi-view stereo (MVS) technology is the natural knowledge…

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…

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…

To find the geolocation of a street-view image, cross-view geolocalization (CVGL) methods typically perform image retrieval on a database of georeferenced aerial images and determine the location from the visually most similar match. Recent…

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…

Accurate environment perception is essential for automated driving. When using monocular cameras, the distance estimation of elements in the environment poses a major challenge. Distances can be more easily estimated when the camera…

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…

Bird-eye-view (BEV) based methods have made great progress recently in multi-view 3D detection task. Comparing with BEV based methods, sparse based methods lag behind in performance, but still have lots of non-negligible merits. To push…

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…

Accurate and comprehensive semantic segmentation of Bird's Eye View (BEV) is essential for ensuring safe and proactive navigation in autonomous driving. Although cooperative perception has exceeded the detection capabilities of single-agent…