相关论文: BEVSpread: Spread Voxel Pooling for Bird's-Eye-Vie…

Bird's-Eye-View (BEV) perception has become a foundational paradigm in autonomous driving, enabling unified spatial representations that support robust multi-sensor fusion and multi-agent collaboration. As autonomous vehicles transition…

Multi-view detection incorporates multiple camera views to alleviate occlusion in crowded scenes, where the state-of-the-art approaches adopt homography transformations to project multi-view features to the ground plane. However, we find…

3D object detection within large 3D scenes is challenging not only due to the sparsity and irregularity of 3D point clouds, but also due to both the extreme foreground-background scene imbalance and class imbalance. A common approach is to…

We propose Radar-Camera fusion transformer (RaCFormer) to boost the accuracy of 3D object detection by the following insight. The Radar-Camera fusion in outdoor 3D scene perception is capped by the image-to-BEV transformation--if the depth…

Safety is critical for autonomous driving, and one aspect of improving safety is to accurately capture the uncertainties of the perception system, especially knowing the unknown. Different from only providing deterministic or probabilistic…

Recently, there have been a plethora of classification and detection systems from RGB as well as 3D images. In this work, we describe a new 3D object detection system from an RGB-D or depth-only point cloud. Our system first detects objects…

Recent advancements in diffusion models have significantly enhanced the data synthesis with 2D control. Yet, precise 3D control in street view generation, crucial for 3D perception tasks, remains elusive. Specifically, utilizing Bird's-Eye…

In autonomous driving, accurately estimating the state of surrounding obstacles is critical for safe and robust path planning. However, this perception task is difficult, particularly for generic obstacles/objects, due to appearance and…

Effective BEV object detection on infrastructure can greatly improve traffic scenes understanding and vehicle-toinfrastructure (V2I) cooperative perception. However, cameras installed on infrastructure have various postures, and previous…

In autonomous driving, multi-modal perception tasks like 3D object detection typically rely on well-synchronized sensors, both at training and inference. However, despite the use of hardware- or software-based synchronization algorithms,…

3D object detectors usually rely on hand-crafted proxies, e.g., anchors or centers, and translate well-studied 2D frameworks to 3D. Thus, sparse voxel features need to be densified and processed by dense prediction heads, which inevitably…

Recent vision-only perception models for autonomous driving achieved promising results by encoding multi-view image features into Bird's-Eye-View (BEV) space. A critical step and the main bottleneck of these methods is transforming image…

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 object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

Camera-based 3D object detection in Bird's Eye View (BEV) is one of the most important perception tasks in autonomous driving. Earlier methods rely on dense BEV features, which are costly to construct. More recent works explore sparse…

This paper addresses the problem of weakly supervised cross-view localization, where the goal is to estimate the pose of a ground camera relative to a satellite image with noisy ground truth annotations. A common approach to bridge the…

Accurate 3D object detection for autonomous driving requires complementary sensors. Cameras provide dense semantics but unreliable depth, while millimeter-wave radar offers precise range and velocity measurements with sparse geometry. We…

Image-only and pseudo-LiDAR representations are commonly used for monocular 3D object detection. However, methods based on them have shortcomings of either not well capturing the spatial relationships in neighbored image pixels or being…

We present VoxelTrack for multi-person 3D pose estimation and tracking from a few cameras which are separated by wide baselines. It employs a multi-branch network to jointly estimate 3D poses and re-identification (Re-ID) features for all…

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…