自动驾驶 - arXivDaily 专题

2412.18951 2026-01-09 cs.CV 77%

TopoBDA: Towards Bezier Deformable Attention for Road Topology Understanding

TopoBDA: 向贝塞尔可变形注意力迈进：道路拓扑理解

Muhammet Esat Kalfaoglu, Halil Ibrahim Ozturk, Ozsel Kilinc, Alptekin Temizel

机构 * Graduate School of Informatics, Middle East Technical University（信息学院，中东部技术大学）； Togg/Trutek AI Team（Togg/Trutek人工智能团队）

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

AI总结 TopoBDA通过贝塞尔可变形注意力提升道路拓扑理解，结合多模态数据增强性能。

Comments Project page: https://artest08.github.io/TopoBDA.github.io/

Journal ref Neurocomputing, Vol. 670, 132360 (2026)

2511.13031 2025-12-23 cs.CV 77%

Towards 3D Object-Centric Feature Learning for Semantic Scene Completion

面向语义场景补全的3D物体感知特征学习

Weihua Wang, Yubo Cui, Xiangru Lin, Zhiheng Li, Zheng Fang

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

AI总结本文提出Ocean框架，通过分解场景为独立物体实例，提升语义场景补全的精度和性能。

Comments Accepted to AAAI-2026

2105.06896 2025-11-25 cs.RO 77%

Towards Sensor Data Abstraction of Autonomous Vehicle Perception Systems

迈向自动驾驶感知系统的传感器数据抽象

Hannes Reichert, Lukas Lang, Kevin Rösch, Daniel Bogdoll, Konrad Doll, Bernhard Sick, Hans-Christian Reuss, Christoph Stiller, J. Marius Zöllner

机构 * University of Kassel, Germany（卡塞尔大学）

专题命中感知：autonomous driving(abstract)；LiDAR(abstract)；driving perception(abstract)；分类 cs.RO

AI总结本文提出通过传感器数据抽象提升自动驾驶感知系统在不同传感器设置下的迁移能力。

Comments Hannes Reichert, Lukas Lang, Kevin Rösch and Daniel Bogdoll contributed equally. Accepted for publication at ISC2 2021

2511.11168 2025-11-17 cs.CV 77%

CATS-V2V: A Real-World Vehicle-to-Vehicle Cooperative Perception Dataset with Complex Adverse Traffic Scenarios

Hangyu Li, Bofeng Cao, Zhaohui Liang, Wuzhen Li, Juyoung Oh, Yuxuan Chen, Shixiao Liang, Hang Zhou, Chengyuan Ma, Jiaxi Liu, Zheng Li, Peng Zhang, KeKe Long, Maolin Liu, Jackson Jiang, Chunlei Yu, Shengxiang Liu, Hongkai Yu, Xiaopeng Li

机构 * University of Wisconsin-Madison（威斯康星大学麦迪逊分校）； wuwen-ai ； Cleveland State University（克利夫兰州立大学）

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

2509.14151 2025-09-18 cs.CV 77%

BEVUDA++: Geometric-aware Unsupervised Domain Adaptation for Multi-View 3D Object Detection

Rongyu Zhang, Jiaming Liu, Xiaoqi Li, Xiaowei Chi, Dan Wang, Li Du, Yuan Du, Shanghang Zhang

机构 * National Key Laboratory for Multimedia Information Processing in School of Computer Science at Peking University（北京大学计算机科学学院多媒体信息处理国家级重点实验室）； The Hong Kong Polytechnic University（香港理工大学）； The Hong Kong University of Science and Technology（香港科学与技术大学）； Nanjing University（南京大学）

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

Comments Accepted by IEEE TCSVT

2508.16408 2025-08-25 cs.CV 77%

SAMFusion: Sensor-Adaptive Multimodal Fusion for 3D Object Detection in Adverse Weather

Edoardo Palladin, Roland Dietze, Praveen Narayanan, Mario Bijelic, Felix Heide

机构 * Torc Robotics（Torc机器人公司）； University of Stuttgart（斯图加特大学）； Princeton University（普林斯顿大学）

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

2504.16368 2025-04-24 cs.CV 77%

Revisiting Radar Camera Alignment by Contrastive Learning for 3D Object Detection

Linhua Kong, Dongxia Chang, Lian Liu, Zisen Kong, Pengyuan Li, Yao Zhao

机构 * IEEE Publication Technology Department（IEEE出版技术部）

专题命中感知：autonomous driving(abstract)；BEV(abstract)；driving perception(abstract)；分类 cs.CV

2503.08992 2025-03-18 cs.CV 77%

Dual-Domain Homogeneous Fusion with Cross-Modal Mamba and Progressive Decoder for 3D Object Detection

Xuzhong Hu, Zaipeng Duan, Pei An, Jun zhang, Jie Ma

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

Comments 13 pages, 9 figures

2410.07475 2024-12-11 cs.CV 77%

Progressive Multi-Modal Fusion for Robust 3D Object Detection

Rohit Mohan, Daniele Cattaneo, Florian Drews, Abhinav Valada

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

Journal ref 8th Annual Conference on Robot Learning, 2024

2412.04337 2024-12-06 cs.CV 77%

Reflective Teacher: Semi-Supervised Multimodal 3D Object Detection in Bird's-Eye-View via Uncertainty Measure

Saheli Hazra, Sudip Das, Rohit Choudhary, Arindam Das, Ganesh Sistu, Ciaran Eising, Ujjwal Bhattacharya

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

2409.05834 2024-09-10 cs.CV 77%

Vision-Driven 2D Supervised Fine-Tuning Framework for Bird's Eye View Perception

Lei He, Qiaoyi Wang, Honglin Sun, Qing Xu, Bolin Gao, Shengbo Eben Li, Jianqiang Wang, Keqiang Li

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

2408.13790 2024-08-27 cs.CV 77%

CV-MOS: A Cross-View Model for Motion Segmentation

Xiaoyu Tang, Zeyu Chen, Jintao Cheng, Xieyuanli Chen, Jin Wu, Bohuan Xue

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

2407.13137 2024-07-19 cs.CV 77%

OE-BevSeg: An Object Informed and Environment Aware Multimodal Framework for Bird's-eye-view Vehicle Semantic Segmentation

Jian Sun, Yuqi Dai, Chi-Man Vong, Qing Xu, Shengbo Eben Li, Jianqiang Wang, Lei He, Keqiang Li

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

2307.13510 2024-07-17 cs.CV 77%

HeightFormer: Explicit Height Modeling without Extra Data for Camera-only 3D Object Detection in Bird's Eye View

Yiming Wu, Ruixiang Li, Zequn Qin, Xinhai Zhao, Xi Li

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

2407.09857 2024-07-16 cs.CV 77%

IFTR: An Instance-Level Fusion Transformer for Visual Collaborative Perception

Shaohong Wang, Lu Bin, Xinyu Xiao, Zhiyu Xiang, Hangguan Shan, Eryun Liu

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

2406.16072 2024-06-25 cs.CV 77%

DV-3DLane: End-to-end Multi-modal 3D Lane Detection with Dual-view Representation

Yueru Luo, Shuguang Cui, Zhen Li

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

Comments Accepted at ICLR2024

2403.16440 2024-03-26 cs.CV 77%

RCBEVDet: Radar-camera Fusion in Bird's Eye View for 3D Object Detection

Zhiwei Lin, Zhe Liu, Zhongyu Xia, Xinhao Wang, Yongtao Wang, Shengxiang Qi, Yang Dong, Nan Dong, Le Zhang, Ce Zhu

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

Comments Accepted by CVPR2024

2311.01423 2023-11-07 cs.CV 77%

CenterRadarNet: Joint 3D Object Detection and Tracking Framework using 4D FMCW Radar

Jen-Hao Cheng, Sheng-Yao Kuan, Hugo Latapie, Gaowen Liu, Jenq-Neng Hwang

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

2307.11482 2023-08-25 cs.CV 77%

R2Det: Redemption from Range-view for Accurate 3D Object Detection

Yihan Wang, Qiao Yan, Yi Wang

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

2307.08209 2023-08-10 cs.CV 77%

Ada3D : Exploiting the Spatial Redundancy with Adaptive Inference for Efficient 3D Object Detection

Tianchen Zhao, Xuefei Ning, Ke Hong, Zhongyuan Qiu, Pu Lu, Yali Zhao, Linfeng Zhang, Lipu Zhou, Guohao Dai, Huazhong Yang, Yu Wang

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

Comments Accepted at ICCV2023

2308.00596 2023-08-02 cs.CV 77%

MonoNext: A 3D Monocular Object Detection with ConvNext

Marcelo Eduardo Pederiva, José Mario De Martino, Alessandro Zimmer

专题命中感知：autonomous driving(abstract)；LiDAR(abstract)；driving perception(abstract)；分类 cs.CV

2307.04106 2023-07-13 cs.CV 77%

Parametric Depth Based Feature Representation Learning for Object Detection and Segmentation in Bird's Eye View

Jiayu Yang, Enze Xie, Miaomiao Liu, Jose M. Alvarez

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

2304.14446 2023-06-05 cs.CV 77%

HyperMODEST: Self-Supervised 3D Object Detection with Confidence Score Filtering

Jenny Xu, Steven L. Waslander

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

Comments Accepted in CRV (Conference on Robots and Vision) 2023

2305.07713 2023-05-16 cs.CV 77%

Multi-Modal 3D Object Detection by Box Matching

Zhe Liu, Xiaoqing Ye, Zhikang Zou, Xinwei He, Xiao Tan, Errui Ding, Jingdong Wang, Xiang Bai

专题命中感知：autonomous driving(abstract)；self-driving(abstract)；LiDAR(abstract)；分类 cs.CV

2304.03105 2023-04-10 cs.CV 77%

Geometric-aware Pretraining for Vision-centric 3D Object Detection

Linyan Huang, Huijie Wang, Jia Zeng, Shengchuan Zhang, Liujuan Cao, Junchi Yan, Hongyang Li

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

Comments 15 pages, 3 figures

2303.15083 2023-03-28 cs.CV 77%

UniDistill: A Universal Cross-Modality Knowledge Distillation Framework for 3D Object Detection in Bird's-Eye View

Shengchao Zhou, Weizhou Liu, Chen Hu, Shuchang Zhou, Chao Ma

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

2303.08333 2023-03-16 cs.CV 77%

DiffBEV: Conditional Diffusion Model for Bird's Eye View Perception

Jiayu Zou, Zheng Zhu, Yun Ye, Xingang Wang

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

2207.02202 2022-09-27 cs.CV 77%

CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformers

Runsheng Xu, Zhengzhong Tu, Hao Xiang, Wei Shao, Bolei Zhou, Jiaqi Ma

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

Comments CoRL 2022; code: https://github.com/DerrickXuNu/CoBEVT

2204.03636 2022-09-21 cs.CV 77%

SurroundDepth: Entangling Surrounding Views for Self-Supervised Multi-Camera Depth Estimation

Yi Wei, Linqing Zhao, Wenzhao Zheng, Zheng Zhu, Yongming Rao, Guan Huang, Jiwen Lu, Jie Zhou

专题命中感知：autonomous driving(abstract)；self-driving(abstract)；LiDAR(abstract)；分类 cs.CV

Comments Accepted to CoRL 2022. Project page: https://surrounddepth.ivg-research.xyz Code: https://github.com/weiyithu/SurroundDepth

2206.04042 2022-08-19 cs.CV 77%

Learning Ego 3D Representation as Ray Tracing

Jiachen Lu, Zheyuan Zhou, Xiatian Zhu, Hang Xu, Li Zhang

专题命中感知：self-driving(abstract)；BEV(abstract)；driving perception(abstract)；分类 cs.CV

Comments ECCV 2022. Code is available at https://github.com/fudan-zvg/Ego3RT

1. 感知 6059 篇

TopoBDA: Towards Bezier Deformable Attention for Road Topology Understanding

Towards 3D Object-Centric Feature Learning for Semantic Scene Completion

Towards Sensor Data Abstraction of Autonomous Vehicle Perception Systems

CATS-V2V: A Real-World Vehicle-to-Vehicle Cooperative Perception Dataset with Complex Adverse Traffic Scenarios

BEVUDA++: Geometric-aware Unsupervised Domain Adaptation for Multi-View 3D Object Detection

SAMFusion: Sensor-Adaptive Multimodal Fusion for 3D Object Detection in Adverse Weather

Revisiting Radar Camera Alignment by Contrastive Learning for 3D Object Detection

Dual-Domain Homogeneous Fusion with Cross-Modal Mamba and Progressive Decoder for 3D Object Detection

Progressive Multi-Modal Fusion for Robust 3D Object Detection

Reflective Teacher: Semi-Supervised Multimodal 3D Object Detection in Bird's-Eye-View via Uncertainty Measure

Vision-Driven 2D Supervised Fine-Tuning Framework for Bird's Eye View Perception

CV-MOS: A Cross-View Model for Motion Segmentation

OE-BevSeg: An Object Informed and Environment Aware Multimodal Framework for Bird's-eye-view Vehicle Semantic Segmentation

HeightFormer: Explicit Height Modeling without Extra Data for Camera-only 3D Object Detection in Bird's Eye View

IFTR: An Instance-Level Fusion Transformer for Visual Collaborative Perception

DV-3DLane: End-to-end Multi-modal 3D Lane Detection with Dual-view Representation

RCBEVDet: Radar-camera Fusion in Bird's Eye View for 3D Object Detection

CenterRadarNet: Joint 3D Object Detection and Tracking Framework using 4D FMCW Radar

R2Det: Redemption from Range-view for Accurate 3D Object Detection

Ada3D : Exploiting the Spatial Redundancy with Adaptive Inference for Efficient 3D Object Detection

MonoNext: A 3D Monocular Object Detection with ConvNext

Parametric Depth Based Feature Representation Learning for Object Detection and Segmentation in Bird's Eye View

HyperMODEST: Self-Supervised 3D Object Detection with Confidence Score Filtering

Multi-Modal 3D Object Detection by Box Matching

Geometric-aware Pretraining for Vision-centric 3D Object Detection

UniDistill: A Universal Cross-Modality Knowledge Distillation Framework for 3D Object Detection in Bird's-Eye View

DiffBEV: Conditional Diffusion Model for Bird's Eye View Perception

CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformers

SurroundDepth: Entangling Surrounding Views for Self-Supervised Multi-Camera Depth Estimation

Learning Ego 3D Representation as Ray Tracing