相关论文: Self-Supervised Bird's Eye View Motion Prediction …

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…

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…

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…

Closing the domain gap between training and deployment and incorporating multiple sensor modalities are two challenging yet critical topics for self-driving. Existing work only focuses on single one of the above topics, overlooking the…

Bird's-Eye-View (BEV) semantic maps have become an essential component of automated driving pipelines due to the rich representation they provide for decision-making tasks. However, existing approaches for generating these maps still follow…

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…

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,…

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…

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,…

The ability to reliably perceive the environmental states, particularly the existence of objects and their motion behavior, is crucial for autonomous driving. In this work, we propose an efficient deep model, called MotionNet, to jointly…

In this paper, we propose a novel self-supervised motion estimator for LiDAR-based autonomous driving via BEV representation. Different from usually adopted self-supervised strategies for data-level structure consistency, we predict scene…

Camera-based Bird's Eye View (BEV) perception models receive increasing attention for their crucial role in autonomous driving, a domain where concerns about the robustness and reliability of deep learning have been raised. While only a few…

Goal-driven mobile robot navigation in map-less environments requires effective state representations for reliable decision-making. Inspired by the favorable properties of Bird's-Eye View (BEV) in point clouds for visual perception, this…

Bird's-eye-view (BEV) grid is a common representation for the perception of road components, e.g., drivable area, in autonomous driving. Most existing approaches rely on cameras only to perform segmentation in BEV space, which is…

3D visual perception tasks, such as 3D detection from multi-camera images, are essential components of autonomous driving and assistance systems. However, designing computationally efficient methods remains a significant challenge. In this…

Bird's Eye View (BEV) map prediction is essential for downstream autonomous driving tasks like trajectory prediction. In the past, this was accomplished through the use of a sophisticated sensor configuration that captured a surround view…

Dense Bird's Eye View (BEV) semantic maps are central to autonomous driving, yet current multi-camera methods depend on costly, inconsistently annotated BEV ground truth. We address this limitation with a two-phase training strategy for…

In autonomous driving, multi-modal perception tasks like 3D object detection typically rely on well-synchronized sensors, both at training and inference. However, despite the use of hardware- or software-based synchronization algorithms,…

The fusion of raw sensor data to create a Bird's Eye View (BEV) representation is critical for autonomous vehicle planning and control. Despite the growing interest in using deep learning models for BEV semantic segmentation, anticipating…

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…