相关论文: MaskBEV: Towards A Unified Framework for BEV Detec…

Accurate 3D object detection in autonomous driving is critical yet challenging due to occlusions, varying object sizes, and complex urban environments. This paper introduces the KAN-RCBEVDepth method, an innovative approach aimed at…

Depth estimation, visual odometry (VO), and bird's-eye-view (BEV) scene layout estimation present three critical tasks for driving scene perception, which is fundamental for motion planning and navigation in autonomous driving. Though they…

There is a recent trend in the LiDAR perception field towards unifying multiple tasks in a single strong network with improved performance, as opposed to using separate networks for each task. In this paper, we introduce a new LiDAR…

3D object detection in driving scenarios faces the challenge of complex road environments, which can lead to the loss or incompleteness of key features, thereby affecting perception performance. To address this issue, we propose an advanced…

Concurrent processing of multiple autonomous driving 3D perception tasks within the same spatiotemporal scene poses a significant challenge, in particular due to the computational inefficiencies and feature competition between tasks when…

Camera-based 3D object detection and tracking are essential for perception in autonomous driving. Current state-of-the-art approaches often rely exclusively on either perspective-view (PV) or bird's-eye-view (BEV) features, limiting their…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

Recently, the rise of query-based Transformer decoders is reshaping camera-based 3D object detection. These query-based decoders are surpassing the traditional dense BEV (Bird's Eye View)-based methods. However, we argue that dense BEV…

With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…

Accurate environment perception is essential for automated driving. When using monocular cameras, the distance estimation of elements in the environment poses a major challenge. Distances can be more easily estimated when the camera…

Camera-based 3D object detection in BEV (Bird's Eye View) space has drawn great attention over the past few years. Dense detectors typically follow a two-stage pipeline by first constructing a dense BEV feature and then performing object…

Recently, the pure camera-based Bird's-Eye-View (BEV) perception removes expensive Lidar sensors, making it a feasible solution for economical autonomous driving. However, most existing BEV solutions either suffer from modest performance or…

We present a novel bird's-eye-view (BEV) detector with perspective supervision, which converges faster and better suits modern image backbones. Existing state-of-the-art BEV detectors are often tied to certain depth pre-trained backbones…

Connected autonomous vehicles (CAVs) must simultaneously perform multiple tasks, such as object detection, semantic segmentation, depth estimation, trajectory prediction, motion prediction, and behaviour prediction, to ensure safe and…

Jointly processing information from multiple sensors is crucial to achieving accurate and robust perception for reliable autonomous driving systems. However, current 3D perception research follows a modality-specific paradigm, leading to…

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…

Moving object detection and segmentation is an essential task in the Autonomous Driving pipeline. Detecting and isolating static and moving components of a vehicle's surroundings are particularly crucial in path planning and localization…

Single camera 3D perception for traffic monitoring faces significant challenges due to occlusion and limited field of view. Moreover, fusing information from multiple cameras at the image feature level is difficult because of different view…

In the field of medical imaging, AI-assisted techniques such as object detection, segmentation, and classification are widely employed to alleviate the workload of physicians and doctors. However, single-task models are predominantly used,…

Bird's-Eye-View (BEV) is critical to connected and automated vehicles (CAVs) as it can provide unified and precise representation of vehicular surroundings. However, quality of the raw sensing data may degrade in occluded or distant…