相关论文: EVT: Efficient View Transformation for Multi-Modal…

The recent advance in multi-camera 3D object detection is featured by bird's-eye view (BEV) representation or object queries. However, the ill-posed transformation from image-plane view to 3D space inevitably causes feature clutter and…

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…

Multi-view 3D detection based on BEV (bird-eye-view) has recently achieved significant improvements. However, the huge memory consumption of state-of-the-art models makes it hard to deploy them on vehicles, and the non-trivial latency will…

Recent 3D object detectors typically utilize multi-sensor data and unify multi-modal features in the shared bird's-eye view (BEV) representation space. However, our empirical findings indicate that previous methods have limitations in…

State-of-the-art LiDAR-camera 3D object detectors usually focus on feature fusion. However, they neglect the factor of depth while designing the fusion strategy. In this work, we are the first to observe that different modalities play…

This paper introduces InverseMatrixVT3D, an efficient method for transforming multi-view image features into 3D feature volumes for 3D semantic occupancy prediction. Existing methods for constructing 3D volumes often rely on depth…

Multi-view aggregation promises to overcome the occlusion and missed detection challenge in multi-object detection and tracking. Recent approaches in multi-view detection and 3D object detection made a huge performance leap by projecting…

Camera-based 3D object detection in BEV (Bird's Eye View) space has drawn great attention over the past few years. Dense detectors typically follow a two-stage pipeline by first constructing a dense BEV feature and then performing object…

3D object detection received increasing attention in autonomous driving recently. Objects in 3D scenes are distributed with diverse orientations. Ordinary detectors do not explicitly model the variations of rotation and reflection…

Camera-radar fusion offers a robust and low-cost alternative to Camera-lidar fusion for the 3D object detection task in real-time under adverse weather and lighting conditions. However, currently, in the literature, it is possible to find…

Depth estimation is a cornerstone of perception in autonomous driving and robotic systems. The considerable cost and relatively sparse data acquisition of LiDAR systems have led to the exploration of cost-effective alternatives, notably,…

The rapid advancement of generative models has led to a growing prevalence of highly realistic AI-generated images, posing significant challenges for digital forensics and content authentication. Conventional detection methods mainly rely…

Learning Bird's Eye View (BEV) representation from surrounding-view cameras is of great importance for autonomous driving. In this work, we propose a Geometry-guided Kernel Transformer (GKT), a novel 2D-to-BEV representation learning…

The past few years have seen an increased interest in aerial image object detection due to its critical value to large-scale geo-scientific research like environmental studies, urban planning, and intelligence monitoring. However, the task…

Multimodal sensor fusion has demonstrated remarkable performance improvements over unimodal approaches in 3D object detection for autonomous vehicles. Typically, existing methods transform multimodal data from independent sensors, such as…

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…

Bird's eye view (BEV) semantic segmentation plays a crucial role in spatial sensing for autonomous driving. Although recent literature has made significant progress on BEV map understanding, they are all based on single-agent camera-based…

Multi-sensor object detection is an active research topic in automated driving, but the robustness of such detection models against missing sensor input (modality missing), e.g., due to a sudden sensor failure, is a critical problem which…

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…

Bird's-Eye-View (BEV) perception has become a vital component of autonomous driving systems due to its ability to integrate multiple sensor inputs into a unified representation, enhancing performance in various downstream tasks. However,…