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BEVerse: Unified Perception and Prediction in Birds-Eye-View for Vision-Centric Autonomous Driving. (arXiv:2205.09743v1 [cs.CV])
cs.CV updates on arXiv.org arxiv.org
In this paper, we present BEVerse, a unified framework for 3D perception and
prediction based on multi-camera systems. Unlike existing studies focusing on
the improvement of single-task approaches, BEVerse features in producing
spatio-temporal Birds-Eye-View (BEV) representations from multi-camera videos
and jointly reasoning about multiple tasks for vision-centric autonomous
driving. Specifically, BEVerse first performs shared feature extraction and
lifting to generate 4D BEV representations from multi-timestamp and multi-view
images. After the ego-motion alignment, the spatio-temporal encoder is utilized
for further feature …
arxiv autonomous autonomous driving cv driving perception prediction vision