相关论文: Diffusion-Based Particle-DETR for BEV Perception

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…

Multi-agent collaborative perception has emerged as a widely recognized technology in the field of autonomous driving in recent years. However, current collaborative perception predominantly relies on LiDAR point clouds, with significantly…

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…

Recently, LSS-based multi-view 3D object detection provides an economical and deployment-friendly solution for autonomous driving. However, all the existing LSS-based methods transform multi-view image features into a Cartesian…

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…

Bird's-eye-view (BEV) is a powerful and widely adopted representation for road scenes that captures surrounding objects and their spatial locations, along with overall context in the scene. In this work, we focus on bird's eye semantic…

Visual bird's eye view (BEV) semantic segmentation helps autonomous vehicles understand the surrounding environment only from images, including static elements (e.g., roads) and dynamic elements (e.g., vehicles, pedestrians). However, the…

Road intersection monitoring and control research often utilize bird's eye view (BEV) simulators. In real traffic settings, achieving a BEV akin to that in a simulator necessitates the deployment of drones or specific sensor mounting, which…

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…

Drones or UAVs, equipped with different sensors, have been deployed in many places especially for urban traffic monitoring or last-mile delivery. It provides the ability to control the different aspects of traffic given real-time…

Recently, the pure camera-based Bird's-Eye-View (BEV) perception provides a feasible solution for economical autonomous driving. However, the existing BEV-based multi-view 3D detectors generally transform all image features into BEV…

The progress of LiDAR-based 3D object detection has significantly enhanced developments in autonomous driving and robotics. However, due to the limitations of LiDAR sensors, object shapes suffer from deterioration in occluded and distant…

Recent progress in 3D scene understanding enables scalable learning of representations across large datasets of diverse scenes. As a consequence, generalization to unseen scenes and objects, rendering novel views from just a single or a…

Visual relation detection (VRD) aims to identify relationships (or interactions) between object pairs in an image. Although recent VRD models have achieved impressive performance, they are all restricted to pre-defined relation categories,…

DEtection TRansformer (DETR) started a trend that uses a group of learnable queries for unified visual perception. This work begins by applying this appealing paradigm to LiDAR-based point cloud segmentation and obtains a simple yet…

Identifying moving objects is an essential capability for autonomous systems, as it provides critical information for pose estimation, navigation, collision avoidance, and static map construction. In this paper, we present MotionBEV, a fast…

This paper presents novel hybrid architectures that combine grid- and point-based processing to improve the detection performance and orientation estimation of radar-based object detection networks. Purely grid-based detection models…

Unmanned aerial vehicle object detection (UAV-OD) has been widely used in various scenarios. However, most existing UAV-OD algorithms rely on manually designed components, which require extensive tuning. End-to-end models that do not depend…

Although multiview fusion has demonstrated potential in LiDAR segmentation, its dependence on computationally intensive point-based interactions, arising from the lack of fixed correspondences between views such as range view and Bird's-Eye…

The bird's-eye-view (BEV) representation allows robust learning of multiple tasks for autonomous driving including road layout estimation and 3D object detection. However, contemporary methods for unified road layout estimation and 3D…