自动驾驶 - arXivDaily 专题

2510.24623 2025-10-29 cs.RO cs.CV 84%

GroundLoc: Efficient Large-Scale Outdoor LiDAR-Only Localization

Nicolai Steinke, Daniel Goehring

机构 * Dahlem Center for Machine Learning and Robotics (DCMLR), Department of Mathematics and Computer Science, Freie Universität Berlin（达赫姆机器学习与机器人研究中心（DCMLR），数学与计算机科学系，柏林自由大学）

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

2210.01249 2025-10-20 cs.RO cs.CV 84%

LOPR: Latent Occupancy PRediction using Generative Models

Bernard Lange, Masha Itkina, Mykel J. Kochenderfer

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

Comments We recommend referring to the peer-reviewed and updated version of this approach, available at arXiv:2407.21126

2510.04759 2025-10-09 cs.CV cs.AI 84%

Progressive Gaussian Transformer with Anisotropy-aware Sampling for Open Vocabulary Occupancy Prediction

Chi Yan, Dan Xu

机构 * The Hong Kong University of Science and Technology (HKUST)（香港科学与技术大学）； ZEEKR Automobile R&D Co., Ltd（ZEKR汽车研发有限公司）

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

Comments Project Page: https://yanchi-3dv.github.io/PG-Occ

2509.25542 2025-10-01 cs.RO cs.CV 84%

Online Mapping for Autonomous Driving: Addressing Sensor Generalization and Dynamic Map Updates in Campus Environments

Zihan Zhang, Abhijit Ravichandran, Pragnya Korti, Luobin Wang, Henrik I. Christensen

机构 * University of California, San Diego（加州大学圣地亚哥分校）

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

Comments 19th International Symposium on Experimental Robotics

2508.01197 2025-09-04 cs.CV cs.RO 84%

A Coarse-to-Fine Approach to Multi-Modality 3D Occupancy Grounding

Zhan Shi, Song Wang, Junbo Chen, Jianke Zhu

机构 * College of Software Technology, Zhejiang University（浙江大学软件技术学院）； College of Computer Science, Zhejiang University（浙江大学计算机科学学院）

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

2408.03551 2025-08-15 cs.CV cs.RO 84%

VPOcc: Exploiting Vanishing Point for 3D Semantic Occupancy Prediction

Junsu Kim, Junhee Lee, Ukcheol Shin, Jean Oh, Kyungdon Joo

机构 * Artificial Intelligence Graduate School, UNIST（人工智能研究生院，UNIST）； Robotics Institute, Carnegie Mellon University（机器人研究所，卡内基梅隆大学）

专题命中 BEV与占用：occupancy(title,abstract)；trajectory planning(abstract)；分类 cs.RO、cs.CV

2504.19654 2025-04-29 cs.RO cs.AI cs.LG 84%

Transformation & Translation Occupancy Grid Mapping: 2-Dimensional Deep Learning Refined SLAM

Leon Davies, Baihua Li, Mohamad Saada, Simon Sølvsten, Qinggang Meng

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

Comments 12 pages, preprint, submitted to Robotics And Autonomous Systems

2502.19694 2025-03-26 cs.CV cs.AI cs.LG 84%

BEVDiffuser: Plug-and-Play Diffusion Model for BEV Denoising with Ground-Truth Guidance

Xin Ye, Burhaneddin Yaman, Sheng Cheng, Feng Tao, Abhirup Mallik, Liu Ren

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

Comments CVPR 2025

2503.13938 2025-03-24 cs.CV cs.AI 84%

ChatBEV: A Visual Language Model that Understands BEV Maps

Qingyao Xu, Siheng Chen, Guang Chen, Yanfeng Wang, Ya Zhang

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

2503.09941 2025-03-14 cs.CV cs.AI 84%

TGP: Two-modal occupancy prediction with 3D Gaussian and sparse points for 3D Environment Awareness

Mu Chen, Wenyu Chen, Mingchuan Yang, Yuan Zhang, Tao Han, Xinchi Li, Yunlong Li, Huaici Zhao

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

2502.15180 2025-02-24 cs.CV cs.RO 84%

OccProphet: Pushing Efficiency Frontier of Camera-Only 4D Occupancy Forecasting with Observer-Forecaster-Refiner Framework

Junliang Chen, Huaiyuan Xu, Yi Wang, Lap-Pui Chau

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

Comments Accepted by ICLR2025

2412.10373 2024-12-16 cs.CV cs.AI cs.LG 84%

GaussianWorld: Gaussian World Model for Streaming 3D Occupancy Prediction

Sicheng Zuo, Wenzhao Zheng, Yuanhui Huang, Jie Zhou, Jiwen Lu

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

Comments Code is available at: https://github.com/zuosc19/GaussianWorld

2412.04384 2024-12-09 cs.CV cs.AI cs.LG 84%

GaussianFormer-2: Probabilistic Gaussian Superposition for Efficient 3D Occupancy Prediction

Yuanhui Huang, Amonnut Thammatadatrakoon, Wenzhao Zheng, Yunpeng Zhang, Dalong Du, Jiwen Lu

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

Comments Code is available at: https://github.com/huang-yh/GaussianFormer

2211.15656 2024-11-28 cs.CV cs.RO 84%

SuperFusion: Multilevel LiDAR-Camera Fusion for Long-Range HD Map Generation

Hao Dong, Weihao Gu, Xianjing Zhang, Jintao Xu, Rui Ai, Huimin Lu, Juho Kannala, Xieyuanli Chen

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

Comments ICRA 2024

2302.04823 2024-09-06 cs.LG cs.AI cs.RO 84%

Hierarchical Generative Adversarial Imitation Learning with Mid-level Input Generation for Autonomous Driving on Urban Environments

Gustavo Claudio Karl Couto, Eric Aislan Antonelo

专题命中 BEV与占用：autonomous driving(title,abstract)；BEV(abstract)；分类 cs.RO、cs.AI

2406.15430 2024-06-25 cs.AI cs.RO 84%

Automated Parking Planning with Vision-Based BEV Approach

Yuxuan Zhao

专题命中 BEV与占用：BEV(title,abstract)；autonomous driving(abstract)；分类 cs.RO、cs.AI

2406.09160 2024-06-14 cs.RO cs.CV 84%

Beyond the Frontier: Predicting Unseen Walls from Occupancy Grids by Learning from Floor Plans

Ludvig Ericson, Patric Jensfelt

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

Comments RA-L, 8 pages

Journal ref IEEE Robotics and Automation Letters (2024) pp. 2377-3766

2405.17429 2024-05-28 cs.CV cs.AI 84%

GaussianFormer: Scene as Gaussians for Vision-Based 3D Semantic Occupancy Prediction

Yuanhui Huang, Wenzhao Zheng, Yunpeng Zhang, Jie Zhou, Jiwen Lu

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

Comments Code is available at: https://github.com/huang-yh/GaussianFormer

2309.08504 2024-05-21 cs.RO cs.CV 84%

OccupancyDETR: Using DETR for Mixed Dense-sparse 3D Occupancy Prediction

Yupeng Jia, Jie He, Runze Chen, Fang Zhao, Haiyong Luo

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

2403.02642 2024-03-06 cs.RO cs.CV 84%

UFO: Uncertainty-aware LiDAR-image Fusion for Off-road Semantic Terrain Map Estimation

Ohn Kim, Junwon Seo, Seongyong Ahn, Chong Hui Kim

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

2311.12754 2023-11-30 cs.CV cs.AI cs.LG 84%

SelfOcc: Self-Supervised Vision-Based 3D Occupancy Prediction

Yuanhui Huang, Wenzhao Zheng, Borui Zhang, Jie Zhou, Jiwen Lu

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

Comments Code is available at: https://github.com/huang-yh/SelfOcc

2310.02251 2023-11-15 cs.CV cs.RO 84%

Talk2BEV: Language-enhanced Bird's-eye View Maps for Autonomous Driving

Tushar Choudhary, Vikrant Dewangan, Shivam Chandhok, Shubham Priyadarshan, Anushka Jain, Arun K. Singh, Siddharth Srivastava, Krishna Murthy Jatavallabhula, K. Madhava Krishna

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

Comments Project page at https://llmbev.github.io/talk2bev/

2310.17379 2023-10-27 cs.CV cs.AI 84%

YOLO-BEV: Generating Bird's-Eye View in the Same Way as 2D Object Detection

Chang Liu, Liguo Zhou, Yanliang Huang, Alois Knoll

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

2305.13814 2023-05-24 cs.CV cs.RO 84%

Leveraging BEV Representation for 360-degree Visual Place Recognition

Xuecheng Xu, Yanmei Jiao, Sha Lu, Xiaqing Ding, Rong Xiong, Yue Wang

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

2305.04298 2023-05-09 cs.RO cs.CV 84%

Poses as Queries: Image-to-LiDAR Map Localization with Transformers

Jinyu Miao, Kun Jiang, Yunlong Wang, Tuopu Wen, Zhongyang Xiao, Zheng Fu, Mengmeng Yang, Maolin Liu, Diange Yang

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

Comments 8 pages, 3 figures, 4 tables

2211.14927 2022-11-29 cs.CV cs.AI 84%

BEV-Locator: An End-to-end Visual Semantic Localization Network Using Multi-View Images

Zhihuang Zhang, Meng Xu, Wenqiang Zhou, Tao Peng, Liang Li, Stefan Poslad

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

2109.12292 2022-09-20 cs.RO cs.CV 84%

Learning Interpretable BEV Based VIO without Deep Neural Networks

Zexi Chen, Haozhe Du, Xuecheng Xu, Rong Xiong, Yiyi Liao, Yue Wang

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

2206.05400 2022-06-27 cs.RO cs.CV 84%

High-Definition Map Generation Technologies For Autonomous Driving

Zhibin Bao, Sabir Hossain, Haoxiang Lang, Xianke Lin

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

Comments 25 pages, 17 figures, submitted to a journal

2206.06079 2022-06-14 cs.CV cs.RO 84%

OHM: GPU Based Occupancy Map Generation

Kazys Stepanas, Jason Williams, Emili Hernández, Fabio Ruetz, Thomas Hines

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

Comments Under review

2106.02527 2021-06-07 cs.CV cs.RO 84%

RoadMap: A Light-Weight Semantic Map for Visual Localization towards Autonomous Driving

Tong Qin, Yuxin Zheng, Tongqing Chen, Yilun Chen, Qing Su

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

Comments IEEE International Conference on Robotics and Automation, 2021

1. BEV与占用 3760 篇

GroundLoc: Efficient Large-Scale Outdoor LiDAR-Only Localization

LOPR: Latent Occupancy PRediction using Generative Models

Progressive Gaussian Transformer with Anisotropy-aware Sampling for Open Vocabulary Occupancy Prediction

Online Mapping for Autonomous Driving: Addressing Sensor Generalization and Dynamic Map Updates in Campus Environments

A Coarse-to-Fine Approach to Multi-Modality 3D Occupancy Grounding

VPOcc: Exploiting Vanishing Point for 3D Semantic Occupancy Prediction

Transformation & Translation Occupancy Grid Mapping: 2-Dimensional Deep Learning Refined SLAM

BEVDiffuser: Plug-and-Play Diffusion Model for BEV Denoising with Ground-Truth Guidance

ChatBEV: A Visual Language Model that Understands BEV Maps

TGP: Two-modal occupancy prediction with 3D Gaussian and sparse points for 3D Environment Awareness

OccProphet: Pushing Efficiency Frontier of Camera-Only 4D Occupancy Forecasting with Observer-Forecaster-Refiner Framework

GaussianWorld: Gaussian World Model for Streaming 3D Occupancy Prediction

GaussianFormer-2: Probabilistic Gaussian Superposition for Efficient 3D Occupancy Prediction

SuperFusion: Multilevel LiDAR-Camera Fusion for Long-Range HD Map Generation

Hierarchical Generative Adversarial Imitation Learning with Mid-level Input Generation for Autonomous Driving on Urban Environments

Automated Parking Planning with Vision-Based BEV Approach

Beyond the Frontier: Predicting Unseen Walls from Occupancy Grids by Learning from Floor Plans

GaussianFormer: Scene as Gaussians for Vision-Based 3D Semantic Occupancy Prediction

OccupancyDETR: Using DETR for Mixed Dense-sparse 3D Occupancy Prediction

UFO: Uncertainty-aware LiDAR-image Fusion for Off-road Semantic Terrain Map Estimation

SelfOcc: Self-Supervised Vision-Based 3D Occupancy Prediction

Talk2BEV: Language-enhanced Bird's-eye View Maps for Autonomous Driving

YOLO-BEV: Generating Bird's-Eye View in the Same Way as 2D Object Detection

Leveraging BEV Representation for 360-degree Visual Place Recognition

Poses as Queries: Image-to-LiDAR Map Localization with Transformers

BEV-Locator: An End-to-end Visual Semantic Localization Network Using Multi-View Images

Learning Interpretable BEV Based VIO without Deep Neural Networks

High-Definition Map Generation Technologies For Autonomous Driving

OHM: GPU Based Occupancy Map Generation

RoadMap: A Light-Weight Semantic Map for Visual Localization towards Autonomous Driving