相关论文: OE-BevSeg: An Object Informed and Environment Awar…

Modern methods for vision-centric autonomous driving perception widely adopt the bird's-eye-view (BEV) representation to describe a 3D scene. Despite its better efficiency than voxel representation, it has difficulty describing the…

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…

Bird's-Eye View (BEV) Perception has received increasing attention in recent years as it provides a concise and unified spatial representation across views and benefits a diverse set of downstream driving applications. At the same time,…

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…

BEV-based 3D perception has emerged as a focal point of research in end-to-end autonomous driving. However, existing BEV approaches encounter significant challenges due to the large feature space, complicating efficient modeling and…

Goal-driven mobile robot navigation in map-less environments requires effective state representations for reliable decision-making. Inspired by the favorable properties of Bird's-Eye View (BEV) in point clouds for visual perception, this…

Bird's-eye-view (BEV) images have been widely demonstrated to provide valuable prior information for navigation. Given the global information provided by such views, two key challenges remain: how to fully exploit this information and how…

Bird's-Eye-View (BEV) representation offers a metric-scaled planar workspace, facilitating the simplification of 6-DoF ego-motion to a more robust 3-DoF model for monocular visual odometry (MVO) in intelligent transportation systems.…

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…

Estimating a semantically segmented bird's-eye-view (BEV) map from a single image has become a popular technique for autonomous control and navigation. However, they show an increase in localization error with distance from the camera.…

A popular approach for constructing bird's-eye-view (BEV) representation in 3D detection is to lift 2D image features onto the viewing frustum space based on explicitly predicted depth distribution. However, depth distribution can only…

Three-dimensional perception from multi-view cameras is a crucial component in autonomous driving systems, which involves multiple tasks like 3D object detection and bird's-eye-view (BEV) semantic segmentation. To improve perception…

3D environment recognition is essential for autonomous driving systems, as autonomous vehicles require a comprehensive understanding of surrounding scenes. Recently, the predominant approach to define this real-life problem is through 3D…

Despite tremendous advancements in bird's-eye view (BEV) perception, existing models fall short in generating realistic and coherent semantic map layouts, and they fail to account for uncertainties arising from partial sensor information…

3D object detection from multiple image views is a fundamental and challenging task for visual scene understanding. Owing to its low cost and high efficiency, multi-view 3D object detection has demonstrated promising application prospects.…

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…

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…

Accurate multi-view 3D object detection is essential for applications such as autonomous driving. Researchers have consistently aimed to leverage LiDAR's precise spatial information to enhance camera-based detectors through methods like…

The ability to perform semantic segmentation in real-time capable applications with limited hardware is of great importance. One such application is the interpretation of the visual bird's-eye view, which requires the semantic segmentation…

Driving World Models (DWMs) have become essential for autonomous driving by enabling future scene prediction. However, existing DWMs are limited to scene generation and fail to incorporate scene understanding, which involves interpreting…