Delving into the devils of bird's-eye-view perception: A review, evaluation and recipe

H Li, C Sima, J Dai, W Wang, L Lu… - … on Pattern Analysis …, 2023 - ieeexplore.ieee.org
Learning powerful representations in bird's-eye-view (BEV) for perception tasks is trending
and drawing extensive attention both from industry and academia. Conventional …

3D object detection for autonomous driving: A comprehensive survey

J Mao, S Shi, X Wang, H Li - International Journal of Computer Vision, 2023 - Springer
Autonomous driving, in recent years, has been receiving increasing attention for its potential
to relieve drivers' burdens and improve the safety of driving. In modern autonomous driving …

Planning-oriented autonomous driving

Y Hu, J Yang, L Chen, K Li, C Sima… - Proceedings of the …, 2023 - openaccess.thecvf.com
Modern autonomous driving system is characterized as modular tasks in sequential order,
ie, perception, prediction, and planning. In order to perform a wide diversity of tasks and …

Bevdepth: Acquisition of reliable depth for multi-view 3d object detection

Y Li, Z Ge, G Yu, J Yang, Z Wang, Y Shi… - Proceedings of the AAAI …, 2023 - ojs.aaai.org
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 …

Tri-perspective view for vision-based 3d semantic occupancy prediction

Y Huang, W Zheng, Y Zhang… - Proceedings of the …, 2023 - openaccess.thecvf.com
Modern methods for vision-centric autonomous driving perception widely adopt the bird's-
eye-view (BEV) representation to describe a 3D scene. Despite its better efficiency than …

End-to-end autonomous driving: Challenges and frontiers

L Chen, P Wu, K Chitta, B Jaeger… - IEEE Transactions on …, 2024 - ieeexplore.ieee.org
The autonomous driving community has witnessed a rapid growth in approaches that
embrace an end-to-end algorithm framework, utilizing raw sensor input to generate vehicle …

Bevfusion: Multi-task multi-sensor fusion with unified bird's-eye view representation

Z Liu, H Tang, A Amini, X Yang, H Mao… - … on robotics and …, 2023 - ieeexplore.ieee.org
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 …

Bevformer v2: Adapting modern image backbones to bird's-eye-view recognition via perspective supervision

C Yang, Y Chen, H Tian, C Tao, X Zhu… - Proceedings of the …, 2023 - openaccess.thecvf.com
We present a novel bird's-eye-view (BEV) detector with perspective supervision, which
converges faster and better suits modern image backbones. Existing state-of-the-art BEV …

Voxformer: Sparse voxel transformer for camera-based 3d semantic scene completion

Y Li, Z Yu, C Choy, C Xiao, JM Alvarez… - Proceedings of the …, 2023 - openaccess.thecvf.com
Humans can easily imagine the complete 3D geometry of occluded objects and scenes. This
appealing ability is vital for recognition and understanding. To enable such capability in AI …

Unisim: A neural closed-loop sensor simulator

Z Yang, Y Chen, J Wang… - Proceedings of the …, 2023 - openaccess.thecvf.com
Rigorously testing autonomy systems is essential for making safe self-driving vehicles (SDV)
a reality. It requires one to generate safety critical scenarios beyond what can be collected …