相关论文: Instance-aware Multi-Camera 3D Object Detection wi…

A popular approach for constructing bird's-eye-view (BEV) representation in 3D detection is to lift 2D image features onto the viewing frustum space based on explicitly predicted depth distribution. However, depth distribution can only…

Existing LiDAR-based 3D object detection methods for autonomous driving scenarios mainly adopt the training-from-scratch paradigm. Unfortunately, this paradigm heavily relies on large-scale labeled data, whose collection can be expensive…

Detecting objects in 3D space using multiple cameras, known as Multi-Camera 3D Object Detection (MC3D-Det), has gained prominence with the advent of bird's-eye view (BEV) approaches. However, these methods often struggle when faced with…

With the attention gained by camera-only 3D object detection in autonomous driving, methods based on Bird-Eye-View (BEV) representation especially derived from the forward view transformation paradigm, i.e., lift-splat-shoot (LSS), have…

3D object detection plays a pivotal role in autonomous driving and robotics, demanding precise interpretation of Bird's Eye View (BEV) images. The dynamic nature of real-world environments necessitates the use of dynamic query mechanisms in…

Currently, detecting 3D objects in Bird's-Eye-View (BEV) is superior to other 3D detectors for autonomous driving and robotics. However, transforming image features into BEV necessitates special operators to conduct feature sampling. These…

3D perception based on the representations learned from multi-camera bird's-eye-view (BEV) is trending as cameras are cost-effective for mass production in autonomous driving industry. However, there exists a distinct performance gap…

Detecting diverse objects within complex indoor 3D point clouds presents significant challenges for robotic perception, particularly with varied object shapes, clutter, and the co-existence of static and dynamic elements where traditional…

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…

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…

Visual bird's eye view (BEV) perception, due to its excellent perceptual capabilities, is progressively replacing costly LiDAR-based perception systems, especially in the realm of urban intelligent driving. However, this type of perception…

Learning powerful representations in bird's-eye-view (BEV) for perception tasks is trending and drawing extensive attention both from industry and academia. Conventional approaches for most autonomous driving algorithms perform detection,…

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…

More and more research works fuse the LiDAR and camera information to improve the 3D object detection of the autonomous driving system. Recently, a simple yet effective fusion framework has achieved an excellent detection performance,…

Autonomous driving requires efficient reasoning about the location and appearance of the different agents in the scene, which aids in downstream tasks such as object detection, object tracking, and path planning. The past few years have…

Depth estimation is a cornerstone of perception in autonomous driving and robotic systems. The considerable cost and relatively sparse data acquisition of LiDAR systems have led to the exploration of cost-effective alternatives, notably,…

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…

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…

Most automated driving systems comprise a diverse sensor set, including several cameras, Radars, and LiDARs, ensuring a complete 360\deg coverage in near and far regions. Unlike Radar and LiDAR, which measure directly in 3D, cameras capture…

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…