相关论文: Semantics-Guided Multimodal Masked Autoencoder Pre…

Recently, the rise of query-based Transformer decoders is reshaping camera-based 3D object detection. These query-based decoders are surpassing the traditional dense BEV (Bird's Eye View)-based methods. However, we argue that dense BEV…

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…

We introduce a vision-language foundation model called VL-BEiT, which is a bidirectional multimodal Transformer learned by generative pretraining. Our minimalist solution conducts masked prediction on both monomodal and multimodal data with…

The Bird's-Eye-View (BEV) representation is a critical factor that directly impacts the 3D object detection performance, but the traditional BEV grid representation induces quadratic computational cost as the spatial resolution grows. To…

Current popular backbones in computer vision, such as Vision Transformers (ViT) and ResNets are trained to perceive the world from 2D images. However, to more effectively understand 3D structural priors in 2D backbones, we propose Mask3D to…

Identifying moving objects is an essential capability for autonomous systems, as it provides critical information for pose estimation, navigation, collision avoidance, and static map construction. In this paper, we present MotionBEV, a fast…

In recent years considerable research in LiDAR semantic segmentation was conducted, introducing several new state of the art models. However, most research focuses on single-scan point clouds, limiting performance especially in long…

Moving object detection and segmentation is an essential task in the Autonomous Driving pipeline. Detecting and isolating static and moving components of a vehicle's surroundings are particularly crucial in path planning and localization…

The capability for open vocabulary perception represents a significant advancement in autonomous driving systems, facilitating the comprehension and interpretation of a wide array of textual inputs in real-time. Despite extensive research…

Autonomous driving requires accurate scene understanding, including road geometry, traffic agents, and their semantic relationships. In online HD map generation scenarios, raster-based representations are well-suited to vision models but…

Semantic scene segmentation from a bird's-eye-view (BEV) perspective plays a crucial role in facilitating planning and decision-making for mobile robots. Although recent vision-only methods have demonstrated notable advancements in…

Accurate 3D object detection in LiDAR point clouds is crucial for autonomous driving systems. To achieve state-of-the-art performance, the supervised training of detectors requires large amounts of human-annotated data, which is expensive…

Masked autoencoders (MAE) have shown tremendous potential for self-supervised learning (SSL) in vision and beyond. However, point clouds from LiDARs used in automated driving are particularly challenging for MAEs since large areas of the 3D…

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…

This work proposes a unified self-supervised pre-training framework for transferable multi-modal perception representation learning via masked multi-modal reconstruction in Neural Radiance Field (NeRF), namely NeRF-Supervised Masked…

Accurate depth estimation is fundamental to 3D perception in autonomous driving, supporting tasks such as detection, tracking, and motion planning. However, monocular camera-based 3D detection suffers from depth ambiguity and reduced…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

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…

In the Vision-and-Language Navigation task, the embodied agent follows linguistic instructions and navigates to a specific goal. It is important in many practical scenarios and has attracted extensive attention from both computer vision and…

Self-supervised pre-training for images without labels has recently achieved promising performance in image classification. The success of transformer-based methods, ViT and MAE, draws the community's attention to the design of backbone…