相关论文: GaussianBeV: 3D Gaussian Representation meets Perc…
Generating unbounded 3D scenes is crucial for large-scale scene understanding and simulation. Urban scenes, unlike natural landscapes, consist of various complex man-made objects and structures such as roads, traffic signs, vehicles, and…
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…
Recent advances in 3D Gaussian Splatting (3DGS) have demonstrated remarkable capabilities in real-time and photorealistic novel view synthesis. However, traditional 3DGS representations often struggle with large-scale scene management and…
3D semantic scene completion (SSC) is an ill-posed perception task that requires inferring a dense 3D scene from limited observations. Previous camera-based methods struggle to predict accurate semantic scenes due to inherent geometric…
Modern autonomous driving systems increasingly rely on mixed camera configurations with pinhole and fisheye cameras for full view perception. However, Bird's-Eye View (BEV) 3D object detection models are predominantly designed for pinhole…
3D Gaussian splatting (3DGS) is an innovative rendering technique that surpasses the neural radiance field (NeRF) in both rendering speed and visual quality by leveraging an explicit 3D scene representation. Existing 3DGS approaches require…
Feed-forward based 3D Gaussian Splatting methods have demonstrated exceptional capability in real-time novel view synthesis for human models. However, current approaches are confined to either dense viewpoint configurations or restricted…
Bird's-eye-view (BEV) perception has emerged as a cornerstone of autonomous driving systems, providing a structured, ego-centric representation critical for downstream planning and control. However, real-world deployment faces challenges…
Vision-based autonomous driving shows great potential due to its satisfactory performance and low costs. Most existing methods adopt dense representations (e.g., bird's eye view) or sparse representations (e.g., instance boxes) for…
4D automotive radars have gained increasing attention for autonomous driving due to their low cost, robustness, and inherent velocity measurement capability. However, existing 4D radar-based 3D detectors rely heavily on pillar encoders for…
Bird's-eye-view (BEV) representations are the dominant paradigm for 3D perception in autonomous driving, providing a unified spatial canvas where detection and segmentation features are geometrically registered to the same physical…
3D Gaussian Splatting (3DGS) is a recent approach for scene rendering. Although primarily designed for view synthesis, its potential for scene understanding tasks remains underexplored. In this work, we conduct a comparative evaluation of…
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…
Novel view synthesis has seen significant advancements with 3D Gaussian Splatting (3DGS), enabling real-time photorealistic rendering. However, the inherent fuzziness of Gaussian Splatting presents challenges for 3D scene understanding,…
Radars and cameras belong to the most frequently used sensors for advanced driver assistance systems and automated driving research. However, there has been surprisingly little research on radar-camera fusion with neural networks. One of…
Recently, 3D Gaussian Splatting has emerged as a promising approach for modeling 3D scenes using mixtures of Gaussians. The predominant optimization method for these models relies on backpropagating gradients through a differentiable…
Bird's Eye View (BEV) representations are tremendously useful for perception-related automated driving tasks. However, generating BEVs from surround-view fisheye camera images is challenging due to the strong distortions introduced by such…
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…
Although multi-view 3D object detection based on the Bird's-Eye-View (BEV) paradigm has garnered widespread attention as an economical and deployment-friendly perception solution for autonomous driving, there is still a performance gap…
In this study, we present an end-to-end pipeline capable of converting drone-captured video streams into high-fidelity 3D reconstructions with minimal latency. Unmanned aerial vehicles (UAVs) are extensively used in aerial real-time…