相关论文: Zero-BEV: Zero-shot Projection of Any First-Person…

Given an image with multiple people, our goal is to directly regress the pose and shape of all the people as well as their relative depth. Inferring the depth of a person in an image, however, is fundamentally ambiguous without knowing…

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…

This paper aims at achieving fine-grained building attribute segmentation in a cross-view scenario, i.e., using satellite and street-view image pairs. The main challenge lies in overcoming the significant perspective differences between…

Accurate layout estimation is crucial for planning and navigation in robotics applications, such as self-driving. In this paper, we introduce the Stereo Bird's Eye ViewNetwork (SBEVNet), a novel supervised end-to-end framework for…

Building 3D perception systems for autonomous vehicles that do not rely on high-density LiDAR is a critical research problem because of the expense of LiDAR systems compared to cameras and other sensors. Recent research has developed a…

The advancement of vision-only Bird's-Eye-View (BEV) perception, a core paradigm for cost-effective autonomous driving, is hindered by the long-standing fundamental trade-off between perception accuracy and on-device deployment efficiency.…

3D visual perception tasks, including 3D detection and map segmentation based on multi-camera images, are essential for autonomous driving systems. In this work, we present a new framework termed BEVFormer, which learns unified BEV…

Birds Eye View perception models require extensive data to perform and generalize effectively. While traditional datasets often provide abundant driving scenes from diverse locations, this is not always the case. It is crucial to maximize…

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…

3D object detection in Bird's-Eye-View (BEV) space has recently emerged as a prevalent approach in the field of autonomous driving. Despite the demonstrated improvements in accuracy and velocity estimation compared to perspective view…

Tracking vehicles in LIDAR point clouds is a challenging task due to the sparsity of the data and the dense search space. The lack of structure in point clouds impedes the use of convolution filters usually employed in 2D object tracking.…

Map construction task plays a vital role in providing precise and comprehensive static environmental information essential for autonomous driving systems. Primary sensors include cameras and LiDAR, with configurations varying between…

Conventional human trajectory prediction models rely on clean curated data, requiring specialized equipment or manual labeling, which is often impractical for robotic applications. The existing predictors tend to overfit to clean…

Talk2BEV is a large vision-language model (LVLM) interface for bird's-eye view (BEV) maps in autonomous driving contexts. While existing perception systems for autonomous driving scenarios have largely focused on a pre-defined (closed) set…

Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…

Accurate localization ability is fundamental in autonomous driving. Traditional visual localization frameworks approach the semantic map-matching problem with geometric models, which rely on complex parameter tuning and thus hinder…

Accurately perceiving instances and predicting their future motion are key tasks for autonomous vehicles, enabling them to navigate safely in complex urban traffic. While bird's-eye view (BEV) representations are commonplace in perception…

Accurate 3D lane detection from monocular images presents significant challenges due to depth ambiguity and imperfect ground modeling. Previous attempts to model the ground have often used a planar ground assumption with limited degrees of…

Understanding road geometry is a critical component of the autonomous vehicle (AV) stack. While high-definition (HD) maps can readily provide such information, they suffer from high labeling and maintenance costs. Accordingly, many recent…

To achieve accurate and low-cost 3D object detection, existing methods propose to benefit camera-based multi-view detectors with spatial cues provided by the LiDAR modality, e.g., dense depth supervision and bird-eye-view (BEV) feature…