相关论文: GraphBEV: Towards Robust BEV Feature Alignment for…

Autonomous driving requires understanding infrastructure elements, such as lanes and crosswalks. To navigate safely, this understanding must be derived from sensor data in real-time and needs to be represented in vectorized form. Learned…

Safety and reliability are crucial for the public acceptance of autonomous driving. To ensure accurate and reliable environmental perception, intelligent vehicles must exhibit accuracy and robustness in various environments. Millimeter-wave…

Accurate 3D object detection is essential for automated vehicles to navigate safely in complex real-world environments. Bird's Eye View (BEV) representations, which project multi-sensor data into a top-down spatial format, have emerged as a…

Predicting the trajectory of an ego vehicle is a critical component of autonomous driving systems. Current state-of-the-art methods typically rely on Deep Neural Networks (DNNs) and sequential models to process front-view images for future…

Extracting a Bird's Eye View (BEV) representation from multiple camera images offers a cost-effective, scalable alternative to LIDAR-based solutions in autonomous driving. However, the performance of the existing BEV methods drops…

Although multi-view 3D object detection based on the Bird's-Eye-View (BEV) paradigm has garnered widespread attention as an economical and deployment-friendly perception solution for autonomous driving, there is still a performance gap…

High-definition (HD) maps are essential for autonomous driving, yet multi-modal fusion often suffers from inconsistency between camera and LiDAR modalities, leading to performance degradation under low-light conditions, occlusions, or…

Robust and accurate perception of dynamic objects and map elements is crucial for autonomous vehicles performing safe navigation in complex traffic scenarios. While vision-only methods have become the de facto standard due to their…

The fusion of LiDAR and camera sensors has demonstrated significant effectiveness in achieving accurate detection for short-range tasks in autonomous driving. However, this fusion approach could face challenges when dealing with long-range…

The integration of complementary characteristics from camera and radar data has emerged as an effective approach in 3D object detection. However, such fusion-based methods remain unexplored for place recognition, an equally important task…

Cooperative perception can increase the view field and decrease the occlusion of an ego vehicle, hence improving the perception performance and safety of autonomous driving. Despite the success of previous works on cooperative object…

Existing approaches to drone visual geo-localization predominantly adopt the image-based setting, where a single drone-view snapshot is matched with images from other platforms. Such task formulation, however, underutilizes the inherent…

We explore Bird's-Eye View (BEV) generation, converting a BEV map into its corresponding multi-view street images. Valued for its unified spatial representation aiding multi-sensor fusion, BEV is pivotal for various autonomous driving…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Moving object detection and segmentation is an essential task in the Autonomous Driving pipeline. Detecting and isolating static and moving components of a vehicle's surroundings are particularly crucial in path planning and localization…

The recent advances in camera-based bird's eye view (BEV) representation exhibit great potential for in-vehicle 3D perception. Despite the substantial progress achieved on standard benchmarks, the robustness of BEV algorithms has not been…

Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…

Accurate, fast, and reliable 3D perception is essential for autonomous driving. Recently, bird's-eye view (BEV)-based perception approaches have emerged as superior alternatives to perspective-based solutions, offering enhanced spatial…

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)…

Combining LiDAR and Camera-view data has become a common approach for 3D Object Detection. However, previous approaches combine the two input streams at a point-level, throwing away semantic information derived from camera features. In this…