相关论文: Enhancing Vectorized Map Perception with Historica…
Camera-based 3D object detection and tracking are central to autonomous driving, yet precise 3D object localization remains fundamentally constrained by depth ambiguity when no expensive, depth-rich online LiDAR is available at inference.…
Expressing images with Multi-Resolution (MR) features has been widely adopted in many computer vision tasks. In this paper, we introduce the MR concept into Bird's-Eye-View (BEV) semantic segmentation for autonomous driving. This…
High-Definition (HD) maps play a crucial role in autonomous vehicle navigation, complementing onboard perception sensors for improved accuracy and safety. Traditional HD map generation relies on dedicated mapping vehicles, which are costly…
Birds-eye-view (BEV) semantic segmentation is critical for autonomous driving for its powerful spatial representation ability. It is challenging to estimate the BEV semantic maps from monocular images due to the spatial gap, since it is…
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…
Visual localization on standard-definition (SD) maps has emerged as a promising low-cost and scalable solution for autonomous driving. However, existing regression-based approaches often overlook inherent geometric priors, resulting in…
Safety constitutes a foundational imperative for autonomous driving systems, necessitating maximal incorporation of accessible prior information. This study establishes that temporal perception buffers and cost-efficient high-definition…
Bird's-eye view (BEV) maps are an important geometrically structured representation widely used in robotics, in particular self-driving vehicles and terrestrial robots. Existing algorithms either require depth information for the geometric…
High-definition (HD) maps are essential for autonomous driving, providing precise information such as road boundaries, lane dividers, and crosswalks to enable safe and accurate navigation. However, traditional HD map generation is…
High-definition (HD) maps have played an integral role in the development of modern autonomous vehicle (AV) stacks, albeit with high associated labeling and maintenance costs. As a result, many recent works have proposed methods for…
We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…
3D perception is a critical problem in autonomous driving. Recently, the Bird-Eye-View (BEV) approach has attracted extensive attention, due to low-cost deployment and desirable vision detection capacity. However, the existing models ignore…
Autonomous driving faces safety challenges due to a lack of global perspective and the semantic information of vectorized high-definition (HD) maps. Information from roadside cameras can greatly expand the map perception range through…
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…
End-to-end autonomous driving faces persistent challenges in both generating diverse, rule-compliant trajectories and robustly selecting the optimal path from these options via learned, multi-faceted evaluation. To address these challenges,…
Bird's-Eye-View (BEV) representation has emerged as a mainstream paradigm for multi-view 3D object detection, demonstrating impressive perceptual capabilities. However, existing methods overlook the geometric quality of BEV representation,…
Online scene perception and topology reasoning are critical for autonomous vehicles to understand their driving environments, particularly for mapless driving systems that endeavor to reduce reliance on costly High-Definition (HD) maps.…
Seeing only a tiny part of the whole is not knowing the full circumstance. Bird's-eye-view (BEV) perception, a process of obtaining allocentric maps from egocentric views, is restricted when using a narrow Field of View (FoV) alone. In this…
The perception of high-definition maps is an integral component of environmental perception in autonomous driving systems. Existing research have often focused on online construction of high-definition maps. For instance, the Maptr[9]…
In this paper, we propose a new image-based visual place recognition (VPR) framework by exploiting the structural cues in bird's-eye view (BEV) from a single monocular camera. The motivation arises from two key observations about place…