相关论文: CarFormer: Self-Driving with Learned Object-Centri…

Inspired by how humans reason over discrete objects and their relationships, we explore whether compact object-centric and object-relation representations can form a foundation for multitask robotic manipulation. Most existing robotic…

Bird's eye view (BEV) semantic segmentation plays a crucial role in spatial sensing for autonomous driving. Although recent literature has made significant progress on BEV map understanding, they are all based on single-agent camera-based…

With the prevalence of LiDAR sensors in autonomous driving, 3D object tracking has received increasing attention. In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in consecutive frames…

Vision-based bird's-eye-view (BEV) 3D object detection has advanced significantly in autonomous driving by offering cost-effectiveness and rich contextual information. However, existing methods often construct BEV representations by…

The autonomous driving field has seen remarkable advancements in various topics, such as object recognition, trajectory prediction, and motion planning. However, current approaches face limitations in effectively comprehending the complex…

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.…

Object-centric representation (OCR) has recently become a subject of interest in the computer vision community for learning a structured representation of images and videos. It has been several times presented as a potential way to improve…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

In this work, we tackle two vital tasks in automated driving systems, i.e., driver intent prediction and risk object identification from egocentric images. Mainly, we investigate the question: what would be good road scene-level…

Object-centric slot attention is a powerful framework for unsupervised learning of structured and explainable representations that can support reasoning about objects and actions, including in surgical videos. While conventional…

Visual bird's eye view (BEV) perception, due to its excellent perceptual capabilities, is progressively replacing costly LiDAR-based perception systems, especially in the realm of urban intelligent driving. However, this type of perception…

Bird's Eye View (BEV) map prediction is essential for downstream autonomous driving tasks like trajectory prediction. In the past, this was accomplished through the use of a sophisticated sensor configuration that captured a surround view…

Humans develop visual intelligence through perceiving and interacting with their environment - a self-supervised learning process grounded in egocentric experience. Inspired by this, we ask how can artificial systems learn stable object…

Unconditional scene inference and generation are challenging to learn jointly with a single compositional model. Despite encouraging progress on models that extract object-centric representations (''slots'') from images, unconditional…

We explore Bird's-Eye View (BEV) generation, converting a BEV map into its corresponding multi-view street images. Valued for its unified spatial representation aiding multi-sensor fusion, BEV is pivotal for various autonomous driving…

Machine learning models, which are frequently used in self-driving cars, are trained by matching the captured images of the road and the measured angle of the steering wheel. The angle of the steering wheel is generally fetched from…

Autonomous driving has achieved rapid development over the last few decades, including the machine perception as an important issue of it. Although object detection based on conventional cameras has achieved remarkable results in 2D/3D,…

In recent years, transformer-based detectors have demonstrated remarkable performance in 2D visual perception tasks. However, their performance in multi-view 3D object detection remains inferior to the state-of-the-art (SOTA) of…

Bird's-eye view (BEV) perception has garnered significant attention in autonomous driving in recent years, in part because BEV representation facilitates multi-modal sensor fusion. BEV representation enables a variety of perception tasks…

The recent success of transformer-based image generative models in object-centric learning highlights the importance of powerful image generators for handling complex scenes. However, despite the high expressiveness of diffusion models in…