In the field of autonomous driving, Bird's Eye View (BEV) technology has garnered significant attention due to its excellent utilization of multi-view multi-modal data. However, current BEV detection frameworks still encounter challenges arising from insufficient incorporation of image semantic information and the sparsity of LiDAR data. This paper introduces a depth-guided BEV (DG-BEV) 3D detection method comprising a depth-guided view Transformation module (DG-VTM) and a visual-based depth completion module, enabling mitigating the limitations of sparse LiDAR data and enhancing the overall perception. Additionally, a multi-scale semantic enhancement module (MSEM) is proposed to ensure holistic and nuanced integration of semantic details into the detection process. The DG-VTM and MSEM are seamlessly incorporated as a plug-and-play unit, making it adaptable for integration into various BEV detection models. In experiments conducted on the nuScenes validation dataset, DG-BEV reaches an NDS of 71.87%, exceeding several state-of-the-art methods.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    DG-BEV: Depth-Guided BEV 3D Object Detection with Sparse LiDAR Data


    Beteiligte:
    Chen, Sihan (Autor:in) / Wang, Keqiu (Autor:in) / Wang, Yadong (Autor:in) / Shen, Tianyu (Autor:in) / Wang, Kunfeng (Autor:in)


    Erscheinungsdatum :

    24.09.2024


    Format / Umfang :

    4131487 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Sparse Pseudo-LiDAR Depth Assisted Monocular Depth Estimation

    Shao, Shuwei / Pei, Zhongcai / Chen, Weihai et al. | IEEE | 2024


    Deterministic Guided LiDAR Depth Map Completion

    Krauss, Bryan / Schroeder, Gregory / Gustke, Marko et al. | IEEE | 2021


    Depth-Guided Progressive Network for Object Detection

    Ma, Jia-Wei / Liang, Min / Chen, Song-Lu et al. | IEEE | 2022


    Monocular Fisheye Camera Depth Estimation Using Sparse LiDAR Supervision

    Kumar, Varun Ravi / Milz, Stefan / Witt, Christian et al. | IEEE | 2018


    LiDAR-Guided Monocular 3D Object Detection for Long-Range Railway Monitoring

    Sanchez, Raul David Dominguez / Ortiz, Xavier Diaz / Zhou, Xingcheng et al. | ArXiv | 2025

    Freier Zugriff