相关论文: CASPFormer: Trajectory Prediction from BEV Images …

A robust awareness of how dynamic scenes evolve is essential for Autonomous Driving systems, as they must accurately detect, track, and predict the behaviour of surrounding obstacles. Traditional perception pipelines that rely on modular…

3D visual perception tasks, including 3D detection and map segmentation based on multi-camera images, are essential for autonomous driving systems. In this work, we present a new framework termed BEVFormer, which learns unified BEV…

Predicting the future movements of surrounding vehicles is essential for ensuring the safe operation and efficient navigation of autonomous vehicles (AVs) in urban traffic environments. Existing vehicle trajectory prediction methods…

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…

Spatial understanding of the semantics of the surroundings is a key capability needed by autonomous cars to enable safe driving decisions. Recently, purely vision-based solutions have gained increasing research interest. In particular,…

Autonomous driving stands as a pivotal domain in computer vision, shaping the future of transportation. Within this paradigm, the backbone of the system plays a crucial role in interpreting the complex environment. However, a notable…

Predicting the future motion of surrounding road users is a crucial and challenging task for autonomous driving (AD) and various advanced driver-assistance systems (ADAS). Planning a safe future trajectory heavily depends on understanding…

In advanced paradigms of autonomous driving, learning Bird's Eye View (BEV) representation from surrounding views is crucial for multi-task framework. However, existing methods based on depth estimation or camera-driven attention are not…

Semantic segmentation in bird's eye view (BEV) is an important task for autonomous driving. Though this task has attracted a large amount of research efforts, it is still challenging to flexibly cope with arbitrary (single or multiple)…

Predicting pedestrian behavior is a crucial task for intelligent driving systems. Accurate predictions require a deep understanding of various contextual elements that potentially impact the way pedestrians behave. To address this…

We propose Radar-Camera fusion transformer (RaCFormer) to boost the accuracy of 3D object detection by the following insight. The Radar-Camera fusion in outdoor 3D scene perception is capped by the image-to-BEV transformation--if the depth…

The Bird's-Eye-View (BEV) representation is a critical factor that directly impacts the 3D object detection performance, but the traditional BEV grid representation induces quadratic computational cost as the spatial resolution grows. To…

The choice of representation plays a key role in self-driving. Bird's eye view (BEV) representations have shown remarkable performance in recent years. In this paper, we propose to learn object-centric representations in BEV to distill a…

Trajectory prediction for autonomous driving must continuously reason the motion stochasticity of road agents and comply with scene constraints. Existing methods typically rely on one-stage trajectory prediction models, which condition…

Multi-agent trajectory prediction is a fundamental problem in autonomous driving. The key challenges in prediction are accurately anticipating the behavior of surrounding agents and understanding the scene context. To address these…

Vehicle trajectory prediction is crucial for advancing autonomous driving and advanced driver assistance systems (ADAS), enhancing road safety and traffic efficiency. While traditional methods have laid foundational work, modern deep…

Collaborative perception leverages rich visual observations from multiple robots to extend a single robot's perception ability beyond its field of view. Many prior works receive messages broadcast from all collaborators, leading to a…

The transformation of features from 2D perspective space to 3D space is essential to multi-view 3D object detection. Recent approaches mainly focus on the design of view transformation, either pixel-wisely lifting perspective view features…

Existing LiDAR-based 3D object detection methods for autonomous driving scenarios mainly adopt the training-from-scratch paradigm. Unfortunately, this paradigm heavily relies on large-scale labeled data, whose collection can be expensive…

Methods for 3D lane detection have been recently proposed to address the issue of inaccurate lane layouts in many autonomous driving scenarios (uphill/downhill, bump, etc.). Previous work struggled in complex cases due to their simple…