自动驾驶 - arXivDaily 专题

2508.15653 2025-08-25 cs.CV 70%

MapKD: Unlocking Prior Knowledge with Cross-Modal Distillation for Efficient Online HD Map Construction

Ziyang Yan, Ruikai Li, Zhiyong Cui, Bohan Li, Han Jiang, Yilong Ren, Aoyong Li, Zhenning Li, Sijia Wen, Haiyang Yu

专题命中 BEV与占用：autonomous driving(abstract)；LiDAR(abstract)；分类 cs.CV

2507.20224 2025-07-29 cs.CV 70%

MambaMap: Online Vectorized HD Map Construction using State Space Model

Ruizi Yang, Xiaolu Liu, Junbo Chen, Jianke Zhu

机构 * College of Software Technology, Zhejiang University（浙江大学软件学院）； College of Computer Science, Zhejiang University（浙江大学计算机学院）

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

2507.02899 2025-07-14 cs.CV 70%

Learning to Generate Vectorized Maps at Intersections with Multiple Roadside Cameras

Quanxin Zheng, Miao Fan, Shengtong Xu, Linghe Kong, Haoyi Xiong

机构 * Beijing Institute of Graphic Communication（北京图形通信研究所）； NavInfo Co. Ltd.（导航信息有限公司）； Autohome Inc.（Autohome公司）； Shanghai Jiaotong University（上海交通大学）； Baidu Inc（百度公司）

专题命中 BEV与占用：BEV(abstract)；LiDAR(abstract)；分类 cs.CV

Comments Accepted by IROS'25

2507.01484 2025-07-03 cs.CV 70%

What Really Matters for Robust Multi-Sensor HD Map Construction?

Xiaoshuai Hao, Yuting Zhao, Yuheng Ji, Luanyuan Dai, Peng Hao, Dingzhe Li, Shuai Cheng, Rong Yin

机构 * Beijing Academy of Artificial Intelligence（北京人工智能研究院）； Institute of Automation, Chinese Academy of Science（中国科学院自动化研究所）； Nanjing University of Science and Technology（南京理工大学）； Samsung R&D Institute China–Beijing（三星中国北京研发中心）； China North Artificial Intelligent & Innovation Research Institute（中国北方人工智能与创新研究院）； Institute of Information Engineering, Chinese Academy of Sciences（中国科学院信息工程研究所）

专题命中 BEV与占用：autonomous driving(abstract)；LiDAR(abstract)；分类 cs.CV

Comments Accepted by IROS 2025

2507.00861 2025-07-02 cs.CV 70%

SafeMap: Robust HD Map Construction from Incomplete Observations

Xiaoshuai Hao, Lingdong Kong, Rong Yin, Pengwei Wang, Jing Zhang, Yunfeng Diao, Shu Zhao

机构 * Beijing Academy of Artificial Intelligence（北京人工智能研究院）； School of Computer Science, Hefei University of Technology（合肥工业大学计算机学院）； Institute of Information Engineering, Chinese Academy of Sciences（中国科学院信息工程研究所）； School of Computer Science, Wuhan University（武汉大学计算机学院）； National University of Singapore（新加坡国立大学）； Intelligent Interconnected Systems Laboratory of Anhui Province (Hefei University of Technology)（安徽省智能互联系统实验室（合肥工业大学））

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

Comments Accepted by ICML 2025

2505.15880 2025-05-26 cs.CV 70%

Challenger: Affordable Adversarial Driving Video Generation

Zhiyuan Xu, Bohan Li, Huan-ang Gao, Mingju Gao, Yong Chen, Ming Liu, Chenxu Yan, Hang Zhao, Shuo Feng, Hao Zhao

机构 * AIR, Tsinghua（清华大学人工智能研究院）； UCAS（中国科学技术大学）； SJTU（上海交通大学）； EIT, Ningbo（宁波工程学院）； Geely Auto（吉利汽车）； IIIS, Tsinghua（清华大学人工智能研究院）； DA, Tsinghua（清华大学人工智能研究院）

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

Comments Project page: https://pixtella.github.io/Challenger/

2504.09535 2025-04-15 cs.CV 70%

FastRSR: Efficient and Accurate Road Surface Reconstruction from Bird's Eye View

Yuting Zhao, Yuheng Ji, Xiaoshuai Hao, Shuxiao Li

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

2504.03868 2025-04-08 cs.CV 70%

Control Map Distribution using Map Query Bank for Online Map Generation

Ziming Liu, Leichen Wang, Ge Yang, Xinrun Li, Xingtao Hu, Hao Sun, Guangyu Gao

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

2503.23480 2025-04-01 cs.RO 70%

Improving Indoor Localization Accuracy by Using an Efficient Implicit Neural Map Representation

Haofei Kuang, Yue Pan, Xingguang Zhong, Louis Wiesmann, Jens Behley, Cyrill Stachniss

专题命中 BEV与占用：LiDAR(abstract)；occupancy(abstract)；分类 cs.RO

Comments 8 pages, 5 figures. Accepted to ICRA 2025

2412.13193 2025-03-25 cs.CV 70%

GaussTR: Foundation Model-Aligned Gaussian Transformer for Self-Supervised 3D Spatial Understanding

Haoyi Jiang, Liu Liu, Tianheng Cheng, Xinjie Wang, Tianwei Lin, Zhizhong Su, Wenyu Liu, Xinggang Wang

专题命中 BEV与占用：autonomous driving(abstract)；occupancy(abstract)；分类 cs.CV

Comments CVPR 2025

2503.07152 2025-03-11 cs.CV 70%

Controllable 3D Outdoor Scene Generation via Scene Graphs

Yuheng Liu, Xinke Li, Yuning Zhang, Lu Qi, Xin Li, Wenping Wang, Chongshou Li, Xueting Li, Ming-Hsuan Yang

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

Comments Project Page: https://yuheng.ink/project-page/control-3d-scene/

2503.03689 2025-03-06 cs.CV 70%

DualDiff+: Dual-Branch Diffusion for High-Fidelity Video Generation with Reward Guidance

Zhao Yang, Zezhong Qian, Xiaofan Li, Weixiang Xu, Gongpeng Zhao, Ruohong Yu, Lingsi Zhu, Longjun Liu

专题命中 BEV与占用：BEV(abstract)；occupancy(abstract)；分类 cs.CV

2412.12704 2024-12-18 cs.CV 70%

MapExpert: Online HD Map Construction with Simple and Efficient Sparse Map Element Expert

Dapeng Zhang, Dayu Chen, Peng Zhi, Yinda Chen, Zhenlong Yuan, Chenyang Li, Sunjing, Rui Zhou, Qingguo Zhou

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

2407.13517 2024-12-13 cs.CV 70%

Mask2Map: Vectorized HD Map Construction Using Bird's Eye View Segmentation Masks

Sehwan Choi, Jungho Kim, Hongjae Shin, Jun Won Choi

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

Comments Accepted to European Conference on Computer Vision (ECCV) 2024, 20 pages, 9 figures

2410.05079 2024-10-08 cs.RO 70%

HE-Nav: A High-Performance and Efficient Navigation System for Aerial-Ground Robots in Cluttered Environments

Junming Wang, Zekai Sun, Xiuxian Guan, Tianxiang Shen, Dong Huang, Zongyuan Zhang, Tianyang Duan, Fangming Liu, Heming Cui

专题命中 BEV与占用：BEV(abstract)；occupancy(abstract)；分类 cs.RO

Comments Accepted to IEEE RA-L

2409.16484 2024-10-04 cs.RO 70%

BehAV: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes

Kasun Weerakoon, Mohamed Elnoor, Gershom Seneviratne, Vignesh Rajagopal, Senthil Hariharan Arul, Jing Liang, Mohamed Khalid M Jaffar, Dinesh Manocha

专题命中 BEV与占用：LiDAR(abstract)；occupancy(abstract)；分类 cs.RO

2410.00337 2024-10-02 cs.CV 70%

SyntheOcc: Synthesize Geometric-Controlled Street View Images through 3D Semantic MPIs

Leheng Li, Weichao Qiu, Yingjie Cai, Xu Yan, Qing Lian, Bingbing Liu, Ying-Cong Chen

专题命中 BEV与占用：autonomous driving(abstract)；occupancy(abstract)；分类 cs.CV

2409.13912 2024-09-24 cs.CV 70%

OneBEV: Using One Panoramic Image for Bird's-Eye-View Semantic Mapping

Jiale Wei, Junwei Zheng, Ruiping Liu, Jie Hu, Jiaming Zhang, Rainer Stiefelhagen

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

Comments Accepted by ACCV 2024. Project code at: https://github.com/JialeWei/OneBEV

2409.11706 2024-09-19 cs.CV 70%

RopeBEV: A Multi-Camera Roadside Perception Network in Bird's-Eye-View

Jinrang Jia, Guangqi Yi, Yifeng Shi

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

2409.09763 2024-09-17 cs.RO 70%

Range-SLAM: Ultra-Wideband-Based Smoke-Resistant Real-Time Localization and Mapping

Yi Liu, Zhuozhu Jian, Shengtao Zheng, Houde Liu, Xueqian Wang, Xinlei Chen, Bin Liang

专题命中 BEV与占用：LiDAR(abstract)；occupancy(abstract)；分类 cs.RO

2405.02008 2024-09-04 cs.CV 70%

DiffMap: Enhancing Map Segmentation with Map Prior Using Diffusion Model

Peijin Jia, Tuopu Wen, Ziang Luo, Mengmeng Yang, Kun Jiang, Zhiquan Lei, Xuewei Tang, Ziyuan Liu, Le Cui, Bo Zhang, Long Huang, Diange Yang

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

2408.08802 2024-08-21 cs.CV 70%

PriorMapNet: Enhancing Online Vectorized HD Map Construction with Priors

Rongxuan Wang, Xin Lu, Xiaoyang Liu, Xiaoyi Zou, Tongyi Cao, Ying Li

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

2407.17003 2024-07-25 cs.CV 70%

Progressive Query Refinement Framework for Bird's-Eye-View Semantic Segmentation from Surrounding Images

Dooseop Choi, Jungyu Kang, Taeghyun An, Kyounghwan Ahn, KyoungWook Min

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

Comments IROS 2024

2402.17430 2024-07-24 cs.CV 70%

Leveraging Enhanced Queries of Point Sets for Vectorized Map Construction

Zihao Liu, Xiaoyu Zhang, Guangwei Liu, Ji Zhao, Ningyi Xu

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

Comments Accepted to European Conference on Computer Vision (ECCV), 2024.Code can be found at https://github.com/HXMap/MapQR

2405.10567 2024-07-18 cs.CV 70%

Team Samsung-RAL: Technical Report for 2024 RoboDrive Challenge-Robust Map Segmentation Track

Xiaoshuai Hao, Yifan Yang, Hui Zhang, Mengchuan Wei, Yi Zhou, Haimei Zhao, Jing Zhang

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

Comments ICRA 2024 RoboDrive Challenge Robust Map Segmentation Track 3rd Place Technical Report. arXiv admin note: text overlap with arXiv:2205.09743 by other authors

2012.04803 2024-06-25 cs.RO 70%

GATSBI: An Online GTSP-Based Algorithm for Targeted Surface Bridge Inspection

Harnaik Dhami, Kevin Yu, Troi Williams, Vineeth Vajipey, Pratap Tokekar

专题命中 BEV与占用：LiDAR(abstract)；occupancy(abstract)；分类 cs.RO

Comments 8 pages, 12 figures, 2 tables. Accepted to ICUAS 2023

2406.10125 2024-06-17 cs.CV 70%

MapVision: CVPR 2024 Autonomous Grand Challenge Mapless Driving Tech Report

Zhongyu Yang, Mai Liu, Jinluo Xie, Yueming Zhang, Chen Shen, Wei Shao, Jichao Jiao, Tengfei Xing, Runbo Hu, Pengfei Xu

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

2404.07045 2024-04-11 cs.CV 70%

Identification of Fine-grained Systematic Errors via Controlled Scene Generation

Valentyn Boreiko, Matthias Hein, Jan Hendrik Metzen

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

2301.04634 2024-02-14 cs.CV 70%

Street-View Image Generation from a Bird's-Eye View Layout

Alexander Swerdlow, Runsheng Xu, Bolei Zhou

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

2312.04044 2023-12-08 cs.CV 70%

Residual Graph Convolutional Network for Bird's-Eye-View Semantic Segmentation

Qiuxiao Chen, Xiaojun Qi

专题命中 BEV与占用：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

Comments 8 pages, 5 figures, this paper has been accepted by and will be presented at the WACV 2024

1. BEV与占用 3758 篇

MapKD: Unlocking Prior Knowledge with Cross-Modal Distillation for Efficient Online HD Map Construction

MambaMap: Online Vectorized HD Map Construction using State Space Model

Learning to Generate Vectorized Maps at Intersections with Multiple Roadside Cameras

What Really Matters for Robust Multi-Sensor HD Map Construction?

SafeMap: Robust HD Map Construction from Incomplete Observations

Challenger: Affordable Adversarial Driving Video Generation

FastRSR: Efficient and Accurate Road Surface Reconstruction from Bird's Eye View

Control Map Distribution using Map Query Bank for Online Map Generation

Improving Indoor Localization Accuracy by Using an Efficient Implicit Neural Map Representation

GaussTR: Foundation Model-Aligned Gaussian Transformer for Self-Supervised 3D Spatial Understanding

Controllable 3D Outdoor Scene Generation via Scene Graphs

DualDiff+: Dual-Branch Diffusion for High-Fidelity Video Generation with Reward Guidance

MapExpert: Online HD Map Construction with Simple and Efficient Sparse Map Element Expert

Mask2Map: Vectorized HD Map Construction Using Bird's Eye View Segmentation Masks

HE-Nav: A High-Performance and Efficient Navigation System for Aerial-Ground Robots in Cluttered Environments

BehAV: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes

SyntheOcc: Synthesize Geometric-Controlled Street View Images through 3D Semantic MPIs

OneBEV: Using One Panoramic Image for Bird's-Eye-View Semantic Mapping

RopeBEV: A Multi-Camera Roadside Perception Network in Bird's-Eye-View

Range-SLAM: Ultra-Wideband-Based Smoke-Resistant Real-Time Localization and Mapping

DiffMap: Enhancing Map Segmentation with Map Prior Using Diffusion Model

PriorMapNet: Enhancing Online Vectorized HD Map Construction with Priors

Progressive Query Refinement Framework for Bird's-Eye-View Semantic Segmentation from Surrounding Images

Leveraging Enhanced Queries of Point Sets for Vectorized Map Construction

Team Samsung-RAL: Technical Report for 2024 RoboDrive Challenge-Robust Map Segmentation Track

GATSBI: An Online GTSP-Based Algorithm for Targeted Surface Bridge Inspection

MapVision: CVPR 2024 Autonomous Grand Challenge Mapless Driving Tech Report

Identification of Fine-grained Systematic Errors via Controlled Scene Generation

Street-View Image Generation from a Bird's-Eye View Layout

Residual Graph Convolutional Network for Bird's-Eye-View Semantic Segmentation