相关论文: DB3D-L: Depth-aware BEV Feature Transformation for…

3D object detection in driving scenarios faces the challenge of complex road environments, which can lead to the loss or incompleteness of key features, thereby affecting perception performance. To address this issue, we propose an advanced…

Vision-centric bird-eye-view (BEV) perception has shown promising potential in autonomous driving. Recent works mainly focus on improving efficiency or accuracy but neglect the challenges when facing environment changing, resulting in…

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…

Bird's-eye-view (BEV) grid is a typical representation of the perception of road components, e.g., drivable area, in autonomous driving. Most existing approaches rely on cameras only to perform segmentation in BEV space, which is…

Perceiving the surrounding environment is a fundamental task in autonomous driving. To obtain highly accurate perception results, modern autonomous driving systems typically employ multi-modal sensors to collect comprehensive environmental…

Autonomous driving stands as a pivotal domain in computer vision, shaping the future of transportation. Within this paradigm, the backbone of the system plays a crucial role in interpreting the complex environment. However, a notable…

3D visual perception tasks based on multi-camera images are essential for autonomous driving systems. Latest work in this field performs 3D object detection by leveraging multi-view images as an input and iteratively enhancing object…

Monocular 3D lane detection is challenged by aleatoric uncertainty arising from inherent observation noise. Existing methods rely on simplified geometric assumptions, such as independent point predictions or global planar modeling, failing…

Vision-based bird's-eye-view (BEV) 3D object detection has advanced significantly in autonomous driving by offering cost-effectiveness and rich contextual information. However, existing methods often construct BEV representations by…

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-View Pedestrian Detection (MVPD) aims to detect pedestrians in the form of a bird's eye view (BEV) from multi-view images. In MVPD, end-to-end trainable deep learning methods have progressed greatly. However, they often struggle to…

Semantic segmentation in bird's eye view (BEV) plays a crucial role in autonomous driving. Previous methods usually follow an end-to-end pipeline, directly predicting the BEV segmentation map from monocular RGB inputs. However, the…

Detecting 3D objects from multi-view images is a fundamental problem in 3D computer vision. Recently, significant breakthrough has been made in multi-view 3D detection tasks. However, the unprecedented detection performance of these vision…

Monocular 3D lane detection remains challenging due to depth ambiguity and weak geometric constraints. Mainstream methods rely on depth guidance, BEV projection, and anchor- or curve-based heads with simplified physical assumptions,…

Camera-LiDAR fusion is widely used in autonomous driving to enable accurate 3D object detection. However, bird's-eye view (BEV) fusion detectors can degrade significantly under domain shift and sensor failures, limiting reliability in…

Modern autonomous driving systems increasingly rely on mixed camera configurations with pinhole and fisheye cameras for full view perception. However, Bird's-Eye View (BEV) 3D object detection models are predominantly designed for pinhole…

Camera-based 3D object detection in Bird's Eye View (BEV) is one of the most important perception tasks in autonomous driving. Earlier methods rely on dense BEV features, which are costly to construct. More recent works explore sparse…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Bird's-Eye-View (BEV) perception has become a foundational paradigm in autonomous driving, enabling unified spatial representations that support robust multi-sensor fusion and multi-agent collaboration. As autonomous vehicles transition…

Roadside vision centric 3D object detection has received increasing attention in recent years. It expands the perception range of autonomous vehicles, enhances the road safety. Previous methods focused on predicting per-pixel height rather…