相关论文: Learning Ego-Centric BEV Representations from a Pe…

Depth estimation, visual odometry (VO), and bird's-eye-view (BEV) scene layout estimation present three critical tasks for driving scene perception, which is fundamental for motion planning and navigation in autonomous driving. Though they…

Dense Bird's Eye View (BEV) semantic maps are central to autonomous driving, yet current multi-camera methods depend on costly, inconsistently annotated BEV ground truth. We address this limitation with a two-phase training strategy for…

Expressing images with Multi-Resolution (MR) features has been widely adopted in many computer vision tasks. In this paper, we introduce the MR concept into Bird's-Eye-View (BEV) semantic segmentation for autonomous driving. This…

Multi-sensor fusion is essential for an accurate and reliable autonomous driving system. Recent approaches are based on point-level fusion: augmenting the LiDAR point cloud with camera features. However, the camera-to-LiDAR projection…

3D visual perception tasks, such as 3D detection from multi-camera images, are essential components of autonomous driving and assistance systems. However, designing computationally efficient methods remains a significant challenge. In this…

Cross-view localization aims to estimate the 3-DoF pose of a ground-view image by aligning it with aerial or satellite imagery. Existing methods typically address this task through direct regression or feature alignment in a shared…

Most successful self-supervised learning methods are trained to align the representations of two independent views from the data. State-of-the-art methods in video are inspired by image techniques, where these two views are similarly…

The choice of representation plays a key role in self-driving. Bird's eye view (BEV) representations have shown remarkable performance in recent years. In this paper, we propose to learn object-centric representations in BEV to distill a…

Self-supervised learning (SSL) holds promise in leveraging large amounts of unlabeled data. However, the success of popular SSL methods has limited on single-centric-object images like those in ImageNet and ignores the correlation among the…

This paper introduces BEV-VLM, a novel approach for trajectory planning in autonomous driving that leverages Vision-Language Models (VLMs) with Bird's-Eye View (BEV) feature maps as visual input. Unlike conventional trajectory planning…

Accurate layout estimation is crucial for planning and navigation in robotics applications, such as self-driving. In this paper, we introduce the Stereo Bird's Eye ViewNetwork (SBEVNet), a novel supervised end-to-end framework for…

Recently, the pure camera-based Bird's-Eye-View (BEV) perception removes expensive Lidar sensors, making it a feasible solution for economical autonomous driving. However, most existing BEV solutions either suffer from modest performance or…

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…

The application of vision-based multi-view environmental perception system has been increasingly recognized in autonomous driving technology, especially the BEV-based models. Current state-of-the-art solutions primarily encode image…

Perceiving the world from both egocentric (first-person) and exocentric (third-person) perspectives is fundamental to human cognition, enabling rich and complementary understanding of dynamic environments. In recent years, allowing the…

Autonomous driving requires efficient reasoning about the Spatio-temporal nature of the semantics of the scene. Recent approaches have successfully amalgamated the traditional modular architecture of an autonomous driving stack comprising…

Research in child development has shown that embodied experience handling physical objects contributes to many cognitive abilities, including visual learning. One characteristic of such experience is that the learner sees the same object…

A popular approach for constructing bird's-eye-view (BEV) representation in 3D detection is to lift 2D image features onto the viewing frustum space based on explicitly predicted depth distribution. However, depth distribution can only…

Representation learning approaches typically rely on images of objects captured from a single perspective that are transformed using affine transformations. Additionally, self-supervised learning, a successful paradigm of representation…

Instance-level contrastive learning techniques, which rely on data augmentation and a contrastive loss function, have found great success in the domain of visual representation learning. They are not suitable for exploiting the rich…