相关论文: RayFormer: Improving Query-Based Multi-Camera 3D O…

Combining LiDAR and Camera-view data has become a common approach for 3D Object Detection. However, previous approaches combine the two input streams at a point-level, throwing away semantic information derived from camera features. In this…

In this paper, we study the problem of continuous 3D shape representations. The majority of existing successful methods are coordinate-based implicit neural representations. However, they are inefficient to render novel views or recover…

In this paper, we address the problem of detecting 3D objects from multi-view images. Current query-based methods rely on global 3D position embeddings (PE) to learn the geometric correspondence between images and 3D space. We claim that…

Though 3D object detection from point clouds has achieved rapid progress in recent years, the lack of flexible and high-performance proposal refinement remains a great hurdle for existing state-of-the-art two-stage detectors. Previous works…

We propose DeepFusion, a modular multi-modal architecture to fuse lidars, cameras and radars in different combinations for 3D object detection. Specialized feature extractors take advantage of each modality and can be exchanged easily,…

Recent advances in diffusion models have significantly improved 3D generation, enabling the use of assets generated from an image for embodied AI simulations. However, the one-to-many nature of the image-to-3D problem limits their use due…

To achieve accurate 3D object detection at a low cost for autonomous driving, many multi-camera methods have been proposed and solved the occlusion problem of monocular approaches. However, due to the lack of accurate estimated depth,…

Autonomous vehicle perception systems have traditionally relied on costly LiDAR sensors to generate precise environmental representations. In this paper, we propose a camera-only perception framework that produces Bird's Eye View (BEV) maps…

LiDAR segmentation is crucial for autonomous driving perception. Recent trends favor point- or voxel-based methods as they often yield better performance than the traditional range view representation. In this work, we unveil several key…

Accurate and robust 3D object detection is essential for autonomous driving, where fusing data from sensors like LiDAR and camera enhances detection accuracy. However, sensor malfunctions such as corruption or disconnection can degrade…

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…

We propose a method to detect and reconstruct multiple 3D objects from a single RGB image. The key idea is to optimize for detection, alignment and shape jointly over all objects in the RGB image, while focusing on realistic and physically…

Accurate depth estimation is fundamental to 3D perception in autonomous driving, supporting tasks such as detection, tracking, and motion planning. However, monocular camera-based 3D detection suffers from depth ambiguity and reduced…

This paper proposes an online multi-camera multi-object tracker that only requires monocular detector training, independent of the multi-camera configurations, allowing seamless extension/deletion of cameras without retraining effort. The…

Self-supervised methods have showed promising results on depth estimation task. However, previous methods estimate the target depth map and camera ego-motion simultaneously, underusing multi-frame correlation information and ignoring the…

We introduce a unified, end-to-end framework that seamlessly integrates object detection and pose estimation with a versatile onboarding process. Our pipeline begins with an onboarding stage that generates object representations from either…

3D object detection is a critical task in autonomous driving. Recently multi-modal fusion-based 3D object detection methods, which combine the complementary advantages of LiDAR and camera, have shown great performance improvements over…

Recently, 3D object detection has attracted significant attention and achieved continuous improvement in real road scenarios. The environmental information is collected from a single sensor or multi-sensor fusion to detect interested…

Cross-view localization aims to estimate the 3-DoF pose of a ground-view image by aligning it with aerial or satellite imagery. Existing methods typically address this task through direct regression or feature alignment in a shared…

Semantic scene segmentation from a bird's-eye-view (BEV) perspective plays a crucial role in facilitating planning and decision-making for mobile robots. Although recent vision-only methods have demonstrated notable advancements in…