相关论文: Robust Bird's Eye View Segmentation by Adapting DI…
As bird's-eye-view (BEV) semantic segmentation is simple-to-visualize and easy-to-handle, it has been applied in autonomous driving to provide the surrounding information to downstream tasks. Inferring BEV semantic segmentation conditioned…
Integrating LiDAR and camera information into Bird's-Eye-View (BEV) representation has emerged as a crucial aspect of 3D object detection in autonomous driving. However, existing methods are susceptible to the inaccurate calibration…
Bird's-Eye-View (BEV) perception serves as a cornerstone for autonomous driving, offering a unified spatial representation that fuses surrounding-view images to enable reasoning for various downstream tasks, such as semantic segmentation,…
The bird's-eye-view (BEV) representation allows robust learning of multiple tasks for autonomous driving including road layout estimation and 3D object detection. However, contemporary methods for unified road layout estimation and 3D…
Vision foundation models (VFMs) and Bird's Eye View (BEV) representation have advanced visual perception substantially, yet their internal spatial representations assume the rectilinear geometry of pinhole cameras. Fisheye cameras, widely…
Bird's-eye-view (BEV) grid is a typical representation of the perception of road components, e.g., drivable area, in autonomous driving. Most existing approaches rely on cameras only to perform segmentation in BEV space, which is…
Determining accurate bird's eye view (BEV) positions of objects and tracks in a scene is vital for various perception tasks including object interactions mapping, scenario extraction etc., however, the level of supervision required to…
Bird's-eye-view (BEV) semantic segmentation is becoming crucial in autonomous driving systems. It realizes ego-vehicle surrounding environment perception by projecting 2D multi-view images into 3D world space. Recently, BEV segmentation has…
We present WidthFormer, a novel transformer-based module to compute Bird's-Eye-View (BEV) representations from multi-view cameras for real-time autonomous-driving applications. WidthFormer is computationally efficient, robust and does not…
Vision-centric Bird's Eye View (BEV) perception holds considerable promise for autonomous driving. Recent studies have prioritized efficiency or accuracy enhancements, yet the issue of domain shift has been overlooked, leading to…
In autonomous driving, accurately estimating the state of surrounding obstacles is critical for safe and robust path planning. However, this perception task is difficult, particularly for generic obstacles/objects, due to appearance and…
Identifying moving objects is an essential capability for autonomous systems, as it provides critical information for pose estimation, navigation, collision avoidance, and static map construction. In this paper, we present MotionBEV, a fast…
Accurate object detection and prediction are critical to ensure the safety and efficiency of self-driving architectures. Predicting object trajectories and occupancy enables autonomous vehicles to anticipate movements and make decisions…
Bird's-eye-view (BEV) grid is a common representation for the perception of road components, e.g., drivable area, in autonomous driving. Most existing approaches rely on cameras only to perform segmentation in BEV space, which is…
Place recognition is a key module for long-term SLAM systems. Current LiDAR-based place recognition methods usually use representations of point clouds such as unordered points or range images. These methods achieve high recall rates of…
Detecting diverse objects within complex indoor 3D point clouds presents significant challenges for robotic perception, particularly with varied object shapes, clutter, and the co-existence of static and dynamic elements where traditional…
End-to-end autonomous driving offers a streamlined alternative to the traditional modular pipeline, integrating perception, prediction, and planning within a single framework. While Deep Reinforcement Learning (DRL) has recently gained…
Road surface conditions, especially geometry profiles, enormously affect driving performance of autonomous vehicles. Vision-based online road reconstruction promisingly captures road information in advance. Existing solutions like monocular…
3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…
Vehicle perception systems strive to achieve comprehensive and rapid visual interpretation of their surroundings for improved safety and navigation. We introduce YOLO-BEV, an efficient framework that harnesses a unique surrounding cameras…