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

Leveraging multi-modal fusion, especially between camera and LiDAR, has become essential for building accurate and robust 3D object detection systems for autonomous vehicles. Until recently, point decorating approaches, in which point…

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…

Camera-radar fusion offers a robust and cost-effective alternative to LiDAR-based autonomous driving systems by combining complementary sensing capabilities: cameras provide rich semantic cues but unreliable depth, while radar delivers…

World models have attracted increasing attention in autonomous driving for their ability to forecast potential future scenarios. In this paper, we propose BEVWorld, a novel framework that transforms multimodal sensor inputs into a unified…

Localization in GNSS-denied and GNSS-degraded environments is a challenge for the safe widespread deployment of autonomous vehicles. Such GNSS-challenged environments require alternative methods for robust localization. In this work, we…

Detecting diverse objects within complex indoor 3D point clouds presents significant challenges for robotic perception, particularly with varied object shapes, clutter, and the co-existence of static and dynamic elements where traditional…

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

Multi-modal 3D object detection with bird's eye view (BEV) has achieved desired advances on benchmarks. Nonetheless, the accuracy may drop significantly in the real world due to data corruption such as sensor configurations for LiDAR and…

Accurate 3D object detection is essential for automated vehicles to navigate safely in complex real-world environments. Bird's Eye View (BEV) representations, which project multi-sensor data into a top-down spatial format, have emerged as a…

In autonomous driving, multi-modal perception tasks like 3D object detection typically rely on well-synchronized sensors, both at training and inference. However, despite the use of hardware- or software-based synchronization algorithms,…

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…

Integrating LiDAR and camera information into Bird's-Eye-View (BEV) representation has emerged as a crucial aspect of 3D object detection in autonomous driving. However, existing methods are susceptible to the inaccurate calibration…

Although multiview fusion has demonstrated potential in LiDAR segmentation, its dependence on computationally intensive point-based interactions, arising from the lack of fixed correspondences between views such as range view and Bird's-Eye…

3D perception based on the representations learned from multi-camera bird's-eye-view (BEV) is trending as cameras are cost-effective for mass production in autonomous driving industry. However, there exists a distinct performance gap…

Perception systems in modern autonomous driving vehicles typically take inputs from complementary multi-modal sensors, e.g., LiDAR and cameras. However, in real-world applications, sensor corruptions and failures lead to inferior…

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…

A realistic view of the vehicle's surroundings is generally offered by camera sensors, which is crucial for environmental perception. Affordable radar sensors, on the other hand, are becoming invaluable due to their robustness in variable…

Bird's Eye View (BEV) perception systems based on multi-sensor feature fusion have become a fundamental cornerstone for end-to-end autonomous driving. However, existing multi-modal BEV methods commonly suffer from limited input…

Infrastructure-based perception plays a crucial role in intelligent transportation systems, offering global situational awareness and enabling cooperative autonomy. However, existing camera-based detection models often underperform in such…

Bird's-Eye-View (BEV) is critical to connected and automated vehicles (CAVs) as it can provide unified and precise representation of vehicular surroundings. However, quality of the raw sensing data may degrade in occluded or distant…