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

In autonomous driving, accurate 3D lane detection using monocular cameras is important for downstream tasks. Recent CNN and Transformer approaches usually apply a two-stage model design. The first stage transforms the image feature from a…

Understanding road topology is crucial for autonomous driving. This paper introduces TopoBDA (Topology with Bezier Deformable Attention), a novel approach that enhances road topology comprehension by leveraging Bezier Deformable Attention…

An accurate understanding of a self-driving vehicle's surrounding environment is crucial for its navigation system. To enhance the effectiveness of existing algorithms and facilitate further research, it is essential to provide…

Bird's-Eye View (BEV) maps provide a structured, top-down abstraction that is crucial for autonomous-driving perception. In this work, we employ Cross-View Transformers (CVT) for learning to map camera images to three BEV's channels - road,…

Generating robust and reliable correspondences across images is a fundamental task for a diversity of applications. To capture context at both global and local granularity, we propose ASpanFormer, a Transformer-based detector-free matcher…

Generating a detailed near-field perceptual model of the environment is an important and challenging problem in both self-driving vehicles and autonomous mobile robotics. A Bird Eye View (BEV) map, providing a panoptic representation, is a…

Roadside vision centric 3D object detection has received increasing attention in recent years. It expands the perception range of autonomous vehicles, enhances the road safety. Previous methods focused on predicting per-pixel height rather…

Bird's-Eye View (BEV) Perception has received increasing attention in recent years as it provides a concise and unified spatial representation across views and benefits a diverse set of downstream driving applications. At the same time,…

4D millimeter-wave radar has emerged as a promising sensing modality for autonomous driving due to its robustness and affordability. However, its sparse and weak geometric cues make reliable instance activation difficult, limiting the…

Trajectory prediction is fundamental to various intelligent technologies, such as autonomous driving and robotics. The motion prediction of pedestrians and vehicles helps emergency braking, reduces collisions, and improves traffic safety.…

This paper introduces a novel architecture for trajectory-conditioned forecasting of future 3D scene occupancy. In contrast to methods that rely on variational autoencoders (VAEs) to generate discrete occupancy tokens, which inherently…

Accurate and robust multimodal multi-task perception is crucial for modern autonomous driving systems. However, current multimodal perception research follows independent paradigms designed for specific perception tasks, leading to a lack…

Accurate motion understanding of the dynamic objects within the scene in bird's-eye-view (BEV) is critical to ensure a reliable obstacle avoidance system and smooth path planning for autonomous vehicles. However, this task has received…

3D occupancy, an advanced perception technology for driving scenarios, represents the entire scene without distinguishing between foreground and background by quantifying the physical space into a grid map. The widely adopted…

Bird's eye view (BEV) perception is becoming increasingly important in the field of autonomous driving. It uses multi-view camera data to learn a transformer model that directly projects the perception of the road environment onto the BEV…

Motion forecasting for autonomous driving is a challenging task because complex driving scenarios result in a heterogeneous mix of static and dynamic inputs. It is an open problem how best to represent and fuse information about road…

Detection of moving objects is a very important task in autonomous driving systems. After the perception phase, motion planning is typically performed in Bird's Eye View (BEV) space. This would require projection of objects detected on the…

Predicting the behaviors of other agents on the road is critical for autonomous driving to ensure safety and efficiency. However, the challenging part is how to represent the social interactions between agents and output different possible…

We propose a novel solution for predicting future trajectories of pedestrians. Our method uses a multimodal encoder-decoder transformer architecture, which takes as input both pedestrian locations and ego-vehicle speeds. Notably, our…

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…