相关论文: BLOS-BEV: Navigation Map Enhanced Lane Segmentatio…
Map construction task plays a vital role in providing precise and comprehensive static environmental information essential for autonomous driving systems. Primary sensors include cameras and LiDAR, with configurations varying between…
Infrastructure-based perception plays a crucial role in intelligent transportation systems, offering global situational awareness and enabling cooperative autonomy. However, existing camera-based detection models often underperform in such…
Detecting diverse objects within complex indoor 3D point clouds presents significant challenges for robotic perception, particularly with varied object shapes, clutter, and the co-existence of static and dynamic elements where traditional…
3D object detection is an essential perception task in autonomous driving to understand the environments. The Bird's-Eye-View (BEV) representations have significantly improved the performance of 3D detectors with camera inputs on popular…
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…
The application of vision-based multi-view environmental perception system has been increasingly recognized in autonomous driving technology, especially the BEV-based models. Current state-of-the-art solutions primarily encode image…
Accurate prediction of communication link quality metrics is essential for vehicle-to-infrastructure (V2I) systems, enabling smooth handovers, efficient beam management, and reliable low-latency communication. The increasing availability of…
LiDAR is crucial for robust 3D scene perception in autonomous driving. LiDAR perception has the largest body of literature after camera perception. However, multi-task learning across tasks like detection, segmentation, and motion…
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,…
Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent scale information from monocular cameras. Traditional methods…
Accurate layout estimation is crucial for planning and navigation in robotics applications, such as self-driving. In this paper, we introduce the Stereo Bird's Eye ViewNetwork (SBEVNet), a novel supervised end-to-end framework for…
Currently, detecting 3D objects in Bird's-Eye-View (BEV) is superior to other 3D detectors for autonomous driving and robotics. However, transforming image features into BEV necessitates special operators to conduct feature sampling. These…
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…
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…
Autonomous driving for urban and highway driving applications often requires High Definition (HD) maps to generate a navigation plan. Nevertheless, various challenges arise when generating and maintaining HD maps at scale. While recent…
The Bird's-eye View (BeV) representation is widely used for 3D perception from multi-view camera images. It allows to merge features from different cameras into a common space, providing a unified representation of the 3D scene. The key…
Birds-Eye-View (BEV) segmentation aims to establish a spatial mapping from the perspective view to the top view and estimate the semantic maps from monocular images. Recent studies have encountered difficulties in view transformation due to…
Monocular visual odometry (MVO) is vital in autonomous navigation and robotics, providing a cost-effective and flexible motion tracking solution, but the inherent scale ambiguity in monocular setups often leads to cumulative errors over…
Transforming image features from perspective view (PV) space to bird's-eye-view (BEV) space remains challenging in autonomous driving due to depth ambiguity and occlusion. Although several view transformation (VT) paradigms have been…
Understanding road scenes in a geometrically consistent, scene-centric representation is crucial for planning and mapping. We present GOLD-BEV, a framework that learns dense bird's-eye-view (BEV) semantic environment maps-including dynamic…