相关论文: MTA: Multimodal Task Alignment for BEV Perception …

A self-driving perception model aims to extract 3D semantic representations from multiple cameras collectively into the bird's-eye-view (BEV) coordinate frame of the ego car in order to ground downstream planner. Existing perception methods…

Applying pseudo labeling techniques has been found to be advantageous in semi-supervised 3D object detection (SSOD) in Bird's-Eye-View (BEV) for autonomous driving, particularly where labeled data is limited. In the literature, Exponential…

Multi-view camera-based 3D perception can be conducted using bird's eye view (BEV) features obtained through perspective view-to-BEV transformations. Several studies have shown that the performance of these 3D perception methods can be…

Perception is essential for autonomous driving system. Recent approaches based on Bird's-eye-view (BEV) and deep learning have made significant progress. However, there exists challenging issues including lengthy development cycles, poor…

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,…

Collaborative perception allows agents to enhance their perceptual capabilities by exchanging intermediate features. Existing methods typically organize these intermediate features as 2D bird's-eye-view (BEV) representations, which discard…

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…

Image captioning aims to automatically generate a natural language description of a given image, and most state-of-the-art models have adopted an encoder-decoder framework. The framework consists of a convolution neural network (CNN)-based…

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…

Recent advances in multi-modal large language models (MLLMs) have demonstrated strong performance across various domains; however, their ability to comprehend driving scenes remains less proven. The complexity of driving scenarios, which…

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…

The rise of multimodal large language models (MLLMs) has spurred interest in language-based driving tasks. However, existing research typically focuses on limited tasks and often omits key multi-view and temporal information which is…

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…

Bird's-Eye-View (BEV) 3D Object Detection is a crucial multi-view technique for autonomous driving systems. Recently, plenty of works are proposed, following a similar paradigm consisting of three essential components, i.e., camera feature…

Multimodal few-shot learning is challenging due to the large domain gap between vision and language modalities. Existing methods are trying to communicate visual concepts as prompts to frozen language models, but rely on hand-engineered…

Bird's-Eye-View (BEV) representation offers a metric-scaled planar workspace, facilitating the simplification of 6-DoF ego-motion to a more robust 3-DoF model for monocular visual odometry (MVO) in intelligent transportation systems.…

3D object detection is an essential perception task in autonomous driving to understand the environments. The Bird's-Eye-View (BEV) representations have significantly improved the performance of 3D detectors with camera inputs on popular…

Multi-modal sensor fusion in Bird's Eye View (BEV) representation has become the leading approach for 3D object detection. However, existing methods often rely on depth estimators or transformer encoders to transform image features into BEV…

Navigation instruction generation, which requires embodied agents to describe the navigation routes, has been of great interest in robotics and human-computer interaction. Existing studies directly map the sequence of 2D perspective…

Unmanned Aerial Vehicle (UAV) swarm systems necessitate efficient collaborative perception mechanisms for diverse operational scenarios. Current Bird's Eye View (BEV)-based approaches exhibit two main limitations: bounding-box…