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

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…

Accurate 3D object detection in autonomous driving relies on Bird's Eye View (BEV) perception and effective temporal fusion. However, existing fusion strategies based on convolutional layers or deformable self-attention struggle to model…

In the field of autonomous driving and mobile robotics, there has been a significant shift in the methods used to create Bird's Eye View (BEV) representations. This shift is characterised by using transformers and learning to fuse…

Vision-based roadside 3D object detection has attracted rising attention in autonomous driving domain, since it encompasses inherent advantages in reducing blind spots and expanding perception range. While previous work mainly focuses on…

Determining accurate bird's eye view (BEV) positions of objects and tracks in a scene is vital for various perception tasks including object interactions mapping, scenario extraction etc., however, the level of supervision required to…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

Accurate 3D lane estimation is crucial for ensuring safety in autonomous driving. However, prevailing monocular techniques suffer from depth loss and lighting variations, hampering accurate 3D lane detection. In contrast, LiDAR points offer…

3D perception is a critical problem in autonomous driving. Recently, the Bird-Eye-View (BEV) approach has attracted extensive attention, due to low-cost deployment and desirable vision detection capacity. However, the existing models ignore…

Low-cost, vision-centric 3D perception systems for autonomous driving have made significant progress in recent years, narrowing the gap to expensive LiDAR-based methods. The primary challenge in becoming a fully reliable alternative lies in…

Multi-sensor fusion-based road segmentation plays an important role in the intelligent driving system since it provides a drivable area. The existing mainstream fusion method is mainly to feature fusion in the image space domain which…

LiDAR sensors are widely used for 3D object detection in various mobile robotics applications. LiDAR sensors continuously generate point cloud data in real-time. Conventional 3D object detectors detect objects using a set of points acquired…

Achieving robust and real-time 3D perception is fundamental for autonomous vehicles. While most existing 3D perception methods prioritize detection accuracy, they often overlook critical aspects such as computational efficiency, onboard…

While most recent autonomous driving system focuses on developing perception methods on ego-vehicle sensors, people tend to overlook an alternative approach to leverage intelligent roadside cameras to extend the perception ability beyond…

Bird's-Eye-View (BEV) maps have emerged as one of the most powerful representations for scene understanding due to their ability to provide rich spatial context while being easy to interpret and process. Such maps have found use in many…

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…

The progress of LiDAR-based 3D object detection has significantly enhanced developments in autonomous driving and robotics. However, due to the limitations of LiDAR sensors, object shapes suffer from deterioration in occluded and distant…

Reliable dynamic object detection in cluttered environments remains a critical challenge for autonomous navigation. Purely geometric LiDAR pipelines that rely on clustering and heuristic filtering can miss dynamic obstacles when they move…

In current research, Bird's-Eye-View (BEV)-based transformers are increasingly utilized for multi-camera 3D object detection. Traditional models often employ random queries as anchors, optimizing them successively. Recent advancements…

Generating a detailed near-field perceptual model of the environment is an important and challenging problem in both self-driving vehicles and autonomous mobile robotics. A Bird Eye View (BEV) map, providing a panoptic representation, is a…

Recent 3D object detectors typically utilize multi-sensor data and unify multi-modal features in the shared bird's-eye view (BEV) representation space. However, our empirical findings indicate that previous methods have limitations in…