2 code implementations • 10 Apr 2024 • Hao Lu, Jiaqi Tang, Xinli Xu, Xu Cao, Yunpeng Zhang, Guoqing Wang, Dalong Du, Hao Chen, Yingcong Chen
Finally, for MC3D-Det joint training, the elaborate dataset merge strategy is designed to solve the problem of inconsistent camera numbers and camera parameters.
1 code implementation • 28 Mar 2024 • Yunpeng Zhang, Deheng Qian, Ding Li, Yifeng Pan, Yong Chen, Zhenbao Liang, Zhiyao Zhang, Shurui Zhang, Hongxu Li, Maolei Fu, Yun Ye, Zhujin Liang, Yi Shan, Dalong Du
With the representation of the ISG, the driving agents aggregate essential information from the most influential elements, including the road agents with potential collisions and the map elements to follow.
1 code implementation • 17 Oct 2023 • Hao Lu, Yunpeng Zhang, Qing Lian, Dalong Du, Yingcong Chen
In our approach, we render diverse view maps from BEV features and rectify the perspective bias of these maps, leveraging implicit foreground volumes to bridge the camera and BEV planes.
1 code implementation • ICCV 2023 • Yunpeng Zhang, Zheng Zhu, Dalong Du
The vision-based perception for autonomous driving has undergone a transformation from the bird-eye-view (BEV) representations to the 3D semantic occupancy.
3D Semantic Occupancy Prediction 3D Semantic Scene Completion from a single RGB image +4
no code implementations • 14 Mar 2023 • Xianda Guo, Wenjie Yuan, Yunpeng Zhang, Tian Yang, Chenming Zhang, Zheng Zhu, Long Chen
The former is achieved by the self-attention module within each view, while the latter is realized by the adjacent attention module, which computes the attention across multi-cameras to exchange the multi-scale representations across surround-view feature maps.
1 code implementation • ICCV 2023 • XiaoFeng Wang, Zheng Zhu, Wenbo Xu, Yunpeng Zhang, Yi Wei, Xu Chi, Yun Ye, Dalong Du, Jiwen Lu, Xingang Wang
Towards a comprehensive benchmarking of surrounding perception algorithms, we propose OpenOccupancy, which is the first surrounding semantic occupancy perception benchmark.
2 code implementations • CVPR 2023 • Yuanhui Huang, Wenzhao Zheng, Yunpeng Zhang, Jie zhou, Jiwen Lu
To lift image features to the 3D TPV space, we further propose a transformer-based TPV encoder (TPVFormer) to obtain the TPV features effectively.
Ranked #1 on Prediction Of Occupancy Grid Maps on nuScenes
1 code implementation • CVPR 2023 • XiaoFeng Wang, Zheng Zhu, Yunpeng Zhang, Guan Huang, Yun Ye, Wenbo Xu, Ziwei Chen, Xingang Wang
To mitigate the problem, we propose the Autonomous-driving StreAming Perception (ASAP) benchmark, which is the first benchmark to evaluate the online performance of vision-centric perception in autonomous driving.
1 code implementation • 22 Aug 2022 • Yunpeng Zhang, Wenzhao Zheng, Zheng Zhu, Guan Huang, Jie zhou, Jiwen Lu
First, we extract multi-scale features and generate the perspective object proposals on each monocular image.
no code implementations • 22 Jun 2022 • Yunpeng Zhang, Zhengyou Wang, Shanna Zhuang, Hui Wang
Gait recognition, which can realize long-distance and contactless identification, is an important biometric technology.
1 code implementation • 19 May 2022 • Yunpeng Zhang, Zheng Zhu, Wenzhao Zheng, JunJie Huang, Guan Huang, Jie zhou, Jiwen Lu
Specifically, BEVerse first performs shared feature extraction and lifting to generate 4D BEV representations from multi-timestamp and multi-view images.
Ranked #15 on Robust Camera Only 3D Object Detection on nuScenes-C
no code implementations • CVPR 2022 • Yunpeng Zhang, Wenzhao Zheng, Zheng Zhu, Guan Huang, Dalong Du, Jie zhou, Jiwen Lu
In this paper, we propose a general method to learn appropriate embeddings for dimension estimation in monocular 3D object detection.
3 code implementations • CVPR 2021 • Yunpeng Zhang, Jiwen Lu, Jie zhou
The precise localization of 3D objects from a single image without depth information is a highly challenging problem.
Ranked #8 on Monocular 3D Object Detection on KITTI Cars Moderate