相关论文: BEVMOSNet: Multimodal Fusion for BEV Moving Object…

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…

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…

Semantic segmentation is an effective way to perform scene understanding. Recently, segmentation in 3D Bird's Eye View (BEV) space has become popular as its directly used by drive policy. However, there is limited work on BEV segmentation…

Motion prediction is an important aspect for Autonomous Driving (AD) and Advance Driver Assistance Systems (ADAS). Current state-of-the-art motion prediction methods rely on High Definition (HD) maps for capturing the surrounding context of…

Object detection is a critical problem for the safe interaction between autonomous vehicles and road users. Deep-learning methodologies allowed the development of object detection approaches with better performance. However, there is still…

Currently, detecting 3D objects in Bird's-Eye-View (BEV) is superior to other 3D detectors for autonomous driving and robotics. However, transforming image features into BEV necessitates special operators to conduct feature sampling. These…

Autonomous vehicle perception systems have traditionally relied on costly LiDAR sensors to generate precise environmental representations. In this paper, we propose a camera-only perception framework that produces Bird's Eye View (BEV) maps…

In autonomous driving, 3D object detection is essential for accurate perception and reliable decision-making. However, object motion and ego-motion often induce cross-frame spatiotemporal inconsistencies in BEV-based detectors, leading to…

We present a simple yet effective fully convolutional one-stage 3D object detector for LiDAR point clouds of autonomous driving scenes, termed FCOS-LiDAR. Unlike the dominant methods that use the bird-eye view (BEV), our proposed detector…

With the rapid advancement of autonomous driving technology, there is a growing need for enhanced safety and efficiency in the automatic environmental perception of vehicles during their operation. In modern vehicle setups, cameras and…

Due to the problem of performance constraints of unsupervised video object detection, its large-scale application is limited. In response to this pain point, we propose another excellent method to solve this problematic point. By…

In autonomous driving, addressing occlusion scenarios is crucial yet challenging. Robust surrounding perception is essential for handling occlusions and aiding motion planning. State-of-the-art models fuse Lidar and Camera data to produce…

Goal-driven mobile robot navigation in map-less environments requires effective state representations for reliable decision-making. Inspired by the favorable properties of Bird's-Eye View (BEV) in point clouds for visual perception, this…

Human drivers adeptly navigate complex scenarios by utilizing rich attentional semantics, but the current autonomous systems struggle to replicate this ability, as they often lose critical semantic information when converting 2D…

Most automated driving systems comprise a diverse sensor set, including several cameras, Radars, and LiDARs, ensuring a complete 360\deg coverage in near and far regions. Unlike Radar and LiDAR, which measure directly in 3D, cameras capture…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

Autonomous driving requires understanding infrastructure elements, such as lanes and crosswalks. To navigate safely, this understanding must be derived from sensor data in real-time and needs to be represented in vectorized form. Learned…

A semantic map of the road scene, covering fundamental road elements, is an essential ingredient in autonomous driving systems. It provides important perception foundations for positioning and planning when rendered in the Bird's-Eye-View…

Modern autonomous driving perception systems utilize complementary multi-modal sensors, such as LiDAR and cameras. Although sensor fusion architectures enhance performance in challenging environments, they still suffer significant…

Vision-centric Bird's-Eye View (BEV) representation is essential for autonomous driving systems (ADS). Multi-frame temporal fusion which leverages historical information has been demonstrated to provide more comprehensive perception…