相关论文: BEVDiffuser: Plug-and-Play Diffusion Model for BEV…

3D object detection in Bird's-Eye-View (BEV) space has recently emerged as a prevalent approach in the field of autonomous driving. Despite the demonstrated improvements in accuracy and velocity estimation compared to perspective view…

Realistic and interactive scene simulation is a key prerequisite for autonomous vehicle (AV) development. In this work, we present SceneDiffuser, a scene-level diffusion prior designed for traffic simulation. It offers a unified framework…

Recent advancements in bird's eye view (BEV) representations have shown remarkable promise for in-vehicle 3D perception. However, while these methods have achieved impressive results on standard benchmarks, their robustness in varied…

Birds' Eye View (BEV) semantic segmentation is an indispensable perception task in end-to-end autonomous driving systems. Unsupervised and semi-supervised learning for BEV tasks, as pivotal for real-world applications, underperform due to…

Deep learning algorithms have significantly reduced the computational time and improved the spatial resolution of particle image velocimetry~(PIV). However, the models trained on synthetic datasets might have a degraded performance on…

Bird's-eye View (BeV) representations have emerged as the de-facto shared space in driving applications, offering a unified space for sensor data fusion and supporting various downstream tasks. However, conventional models use grids with…

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…

We introduce Blind Plug-and-Play Diffusion Models (Blind-PnPDM) as a novel framework for solving blind inverse problems where both the target image and the measurement operator are unknown. Unlike conventional methods that rely on explicit…

In this research, we propose a new 3D object detector with a trustworthy depth estimation, dubbed BEVDepth, for camera-based Bird's-Eye-View (BEV) 3D object detection. Our work is based on a key observation -- depth estimation in recent…

Accurate 3D bird's-eye view (BEV) object detection is essential for autonomous driving, and depends strongly on effective multimodal representations from complementary sensors such as cameras and LiDAR. Multimodal masked autoencoders have…

Multi-view camera-only 3D object detection largely follows two primary paradigms: exploiting bird's-eye-view (BEV) representations or focusing on perspective-view (PV) features, each with distinct advantages. Although several recent…

Generating unbounded 3D scenes is crucial for large-scale scene understanding and simulation. Urban scenes, unlike natural landscapes, consist of various complex man-made objects and structures such as roads, traffic signs, vehicles, and…

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…

Recent vision-only perception models for autonomous driving achieved promising results by encoding multi-view image features into Bird's-Eye-View (BEV) space. A critical step and the main bottleneck of these methods is transforming image…

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,…

Collaborative 3D object detection holds significant importance in the field of autonomous driving, as it greatly enhances the perception capabilities of each individual agent by facilitating information exchange among multiple agents.…

Bird's-eye-view (BEV) representation is crucial for the perception function in autonomous driving tasks. It is difficult to balance the accuracy, efficiency and range of BEV representation. The existing works are restricted to a limited…

Denoising diffusion models represent a recent emerging topic in computer vision, demonstrating remarkable results in the area of generative modeling. A diffusion model is a deep generative model that is based on two stages, a forward…

In autonomous driving, dynamic environment and corner cases pose significant challenges to the robustness of ego vehicle's decision-making. To address these challenges, commencing with the representation of state-action mapping in the…

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…