相关论文: HENet: Hybrid Encoding for End-to-end Multi-task 3…

Online scene perception and topology reasoning are critical for autonomous vehicles to understand their driving environments, particularly for mapless driving systems that endeavor to reduce reliance on costly High-Definition (HD) maps.…

Single camera 3D perception for traffic monitoring faces significant challenges due to occlusion and limited field of view. Moreover, fusing information from multiple cameras at the image feature level is difficult because of different view…

Convolutional Networks (ConvNets) excel at semantic segmentation and have become a vital component for perception in autonomous driving. Enabling an all-encompassing view of street-scenes, omnidirectional cameras present themselves as a…

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…

We propose FusionBERT, a novel multi-view visual fusion framework for image-3D multimodal retrieval. Existing image-3D representation learning methods predominantly focus on feature alignment of a single object image and its 3D model,…

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…

We propose an end-to-end driving model that integrates a multi-task UNet (MTUNet) architecture and control algorithms in a pipeline of data flow from a front camera through this model to driving decisions. It provides quantitative measures…

Accurately detecting lane lines in 3D space is crucial for autonomous driving. Existing methods usually first transform image-view features into bird-eye-view (BEV) by aid of inverse perspective mapping (IPM), and then detect lane lines…

3D lane detection which plays a crucial role in vehicle routing, has recently been a rapidly developing topic in autonomous driving. Previous works struggle with practicality due to their complicated spatial transformations and inflexible…

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…

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…

This paper proposes an efficient multi-camera to Bird's-Eye-View (BEV) view transformation method for 3D perception, dubbed MatrixVT. Existing view transformers either suffer from poor transformation efficiency or rely on device-specific…

In the field of autonomous driving, 3D object detection is a very important perception module. Although the current SOTA algorithm combines Camera and Lidar sensors, limited by the high price of Lidar, the current mainstream landing schemes…

Safe autonomous agents and mobile robots need fast real time 3D perception, especially for vulnerable road users (VRUs) such as pedestrians. We introduce a new bird's eye view (BEV) encoding, which maps the full 3D LiDAR point cloud into a…

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…

Semantic segmentation is an essential step for many vision applications in order to understand a scene and the objects within. Recent progress in hyperspectral imaging technology enables the application in driving scenarios and the hope is…

The cornerstone of autonomous vehicles (AV) is a solid perception system, where camera encoders play a crucial role. Existing works usually leverage pre-trained Convolutional Neural Networks (CNN) or Vision Transformers (ViTs) designed for…

Semantic image and video segmentation stand among the most important tasks in computer vision nowadays, since they provide a complete and meaningful representation of the environment by means of a dense classification of the pixels in a…

3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context…

Environmental perception with the multi-modal fusion of radar and camera is crucial in autonomous driving to increase accuracy, completeness, and robustness. This paper focuses on utilizing millimeter-wave (MMW) radar and camera sensor…