相关论文: BEVCar: Camera-Radar Fusion for BEV Map and Object…

Localization in GNSS-denied and GNSS-degraded environments is a challenge for the safe widespread deployment of autonomous vehicles. Such GNSS-challenged environments require alternative methods for robust localization. In this work, we…

Bird's eye view (BEV) semantic segmentation plays a crucial role in spatial sensing for autonomous driving. Although recent literature has made significant progress on BEV map understanding, they are all based on single-agent camera-based…

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…

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…

In this paper, we propose M$^2$BEV, a unified framework that jointly performs 3D object detection and map segmentation in the Birds Eye View~(BEV) space with multi-camera image inputs. Unlike the majority of previous works which separately…

Bird's-Eye-View (BEV) is critical to connected and automated vehicles (CAVs) as it can provide unified and precise representation of vehicular surroundings. However, quality of the raw sensing data may degrade in occluded or distant…

A realistic view of the vehicle's surroundings is generally offered by camera sensors, which is crucial for environmental perception. Affordable radar sensors, on the other hand, are becoming invaluable due to their robustness in variable…

The rapid development of the autonomous driving industry has led to a significant accumulation of autonomous driving data. Consequently, there comes a growing demand for retrieving data to provide specialized optimization. However, directly…

A recent sensor fusion in a Bird's Eye View (BEV) space has shown its utility in various tasks such as 3D detection, map segmentation, etc. However, the approach struggles with inaccurate camera BEV estimation, and a perception of distant…

Autonomous driving technology is rapidly evolving, offering the potential for safer and more efficient transportation. However, the performance of these systems can be significantly compromised by the occlusion on sensors due to…

Understanding the scene around the ego-vehicle is key to assisted and autonomous driving. Nowadays, this is mostly conducted using cameras and laser scanners, despite their reduced performances in adverse weather conditions. Automotive…

Driven by deep learning techniques, perception technology in autonomous driving has developed rapidly in recent years, enabling vehicles to accurately detect and interpret surrounding environment for safe and efficient navigation. To…

Beam prediction is critical for reducing beam-training overhead in millimeter-wave (mmWave) systems, especially in high-mobility vehicular scenarios. This paper presents a BEV-Fusion based framework that unifies camera, LiDAR, radar, and…

Accurate environment perception is essential for automated driving. When using monocular cameras, the distance estimation of elements in the environment poses a major challenge. Distances can be more easily estimated when the camera…

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,…

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…

In this paper, we present BEVerse, a unified framework for 3D perception and prediction based on multi-camera systems. Unlike existing studies focusing on the improvement of single-task approaches, BEVerse features in producing…

Estimating a semantically segmented bird's-eye-view (BEV) map from a single image has become a popular technique for autonomous control and navigation. However, they show an increase in localization error with distance from the camera.…

This paper introduces BEV-VLM, a novel approach for trajectory planning in autonomous driving that leverages Vision-Language Models (VLMs) with Bird's-Eye View (BEV) feature maps as visual input. Unlike conventional trajectory planning…

Semantic segmentation is an effective way to perform scene understanding. Recently, segmentation in 3D Bird's Eye View (BEV) space has become popular as its directly used by drive policy. However, there is limited work on BEV segmentation…