相关论文: DA-BEV: Unsupervised Domain Adaptation for Bird's …

Recent advances in deep learning have led to the development of accurate and efficient models for various computer vision applications such as classification, segmentation, and detection. However, learning highly accurate models relies on…

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,…

Vision-based Bird's-Eye-View (BEV) 3D object detection has recently become popular in autonomous driving. However, objects with a high similarity to the background from a camera perspective cannot be detected well by existing methods. In…

Domain adaptation (DA) addresses the real-world image classification problem of discrepancy between training (source) and testing (target) data distributions. We propose an unsupervised DA method that considers the presence of only…

Deep learning has become the method of choice to tackle real-world problems in different domains, partly because of its ability to learn from data and achieve impressive performance on a wide range of applications. However, its success…

Typically a classifier trained on a given dataset (source domain) does not performs well if it is tested on data acquired in a different setting (target domain). This is the problem that domain adaptation (DA) tries to overcome and, while…

Collaborative perception has recently gained significant attention in autonomous driving, improving perception quality by enabling the exchange of additional information among vehicles. However, deploying collaborative perception systems…

Unsupervised Domain Adaptation (DA) exploits the supervision of a label-rich source dataset to make predictions on an unlabeled target dataset by aligning the two data distributions. In robotics, DA is used to take advantage of…

Spatial understanding of the semantics of the surroundings is a key capability needed by autonomous cars to enable safe driving decisions. Recently, purely vision-based solutions have gained increasing research interest. In particular,…

Many research efforts have been committed to unsupervised domain adaptation (DA) problems that transfer knowledge learned from a labeled source domain to an unlabeled target domain. Various DA methods have achieved remarkable results…

Multi-modal sensor fusion in Bird's Eye View (BEV) representation has become the leading approach for 3D object detection. However, existing methods often rely on depth estimators or transformer encoders to transform image features into BEV…

Recently, perception task based on Bird's-Eye View (BEV) representation has drawn more and more attention, and BEV representation is promising as the foundation for next-generation Autonomous Vehicle (AV) perception. However, most existing…

Multi-UAV collaborative 3D detection enables accurate and robust perception by fusing multi-view observations from aerial platforms, offering significant advantages in coverage and occlusion handling, while posing new challenges for…

Integrating LiDAR and Camera information into Bird's-Eye-View (BEV) has become an essential topic for 3D object detection in autonomous driving. Existing methods mostly adopt an independent dual-branch framework to generate LiDAR and camera…

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,…

Unsupervised domain adaptation (DA) with the aid of pseudo labeling techniques has emerged as a crucial approach for domain-adaptive 3D object detection. While effective, existing DA methods suffer from a substantial drop in performance…

Achieving reliable and safe autonomous driving in off-road environments requires accurate and efficient terrain traversability analysis. However, this task faces several challenges, including the scarcity of large-scale datasets tailored…

Pairwise point cloud registration is a critical task for many applications, which heavily depends on finding correct correspondences from the two point clouds. However, the low overlap between input point clouds causes the registration to…

In this paper, we introduce a novel unsupervised domain adaptation technique for the task of 3D keypoint prediction from a single depth scan or image. Our key idea is to utilize the fact that predictions from different views of the same or…

We present Dur360BEV, a novel spherical camera autonomous driving dataset equipped with a high-resolution 128-channel 3D LiDAR and a RTK-refined GNSS/INS system, along with a benchmark architecture designed to generate Bird-Eye-View (BEV)…