bird's-eye-view (BEV) representation3D object detectionAutonomous drivingIn the field of autonomous driving, perception tasks based on Bird's-Eye-View (BEV) have attracted considerable research attention due to their numerous benefits. Despite recent advancements in performance, efficiency remains a ...
3D Object Detection——BEV-based methods 技术标签: 3D点云处理MV3D:Multi-View 3D Object Detection Network for Autonomous Driving AVOD:Joint 3D Proposal Generation and Object Detection from View Aggregation 代表1:MV3D 雷达点云与单目视觉融合提取3D bounding-box。 将雷达... 查看原文 [论文解读]Multi-...
作者首先对比了三种BEV下的时序方法:BEV dense feature级融合,BEV proposal级融合,Query级feature融合。明显发现计算量和特征维度呈递减趋势,因此结论是query based方法上限最高,计算量最小。对比的三个model分别是MGTANet(BEV dense),MPPNet(proposal)和他们自己的方案。其实时序整体思路看上去和旷视的StreamPETR很像。
In this paper, we propose a fully differentiable, and interpretable, bird-eye-view (BEV) based VIO model for robots with local planar motion that can be trained without deep neural networks. Specifically, we first adopt Unscented Kalman Filter as a differentiable layer to predict the pitch and...
ID.6 CROZZ; photo credit: FAW-Volkswagen The new BEV model measures 4,891mm long, 1,848mm wide, and 1,679mm tall with a wheelbase that spans 2,965mm. Retaining a clean interior look of VW's ID family, the ID.6 CROZZ is still home to the 5.3-inch liquid crystal dashboard, the...
GT-BEV: GT-BEV的核心目标是将生成的BEV表示与GT-BEV对齐,确保基于BEV元素的类标签、位置和边界的显式排列。 在GT-BEV中,首先使用GT Enc来表示BEV地图上第i个实例的类标签ci和ground-truth边界框pi信息。 值得注意的是,作者在这里将大型语言模型 (LLM) 或简单的多层感知器 (MLP) 层均作为 GT Enc 进行了尝...
The BEVFormer model incorporates spatial cross-attention and temporal self-attention, leveraging information from both temporal and spatial scales to enhance robustness. The Generative Adversarial Network CycleGAN was employed to generate the underwater dataset U-nuScenes, based on the nuScenes dataset. ...
WidthFormer: Toward Efficient Transformer-based BEV View Transformation. Chenhongyi Yang, Tianwei Lin, Lichao Huang, Elliot J. Crowley, Arxiv 2401.03836 Usage Environment Setup Our codebase is built upon the BEVDet (v1) and StreamPETR codebases. Please refer to their original repos for instracti...
This study addresses the optimization of a camera-based bird's eye view (BEV) segmentation technique that operates in real-time within an embedded system environment while maintaining high accuracy despite limited computational resources. Specifically, it examines three technical approaches for BEV segment...
However, a notable challenge has been the loss of clear supervision when it comes to Bird's Eye View elements. To address this limitation, we introduce CLIP-BEVFormer, a novel approach that leverages the power of contrastive learning techniques to enhance the multi-view image-derived BEV ...