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RoadBEV: Road Surface Reconstruction in Bird's Eye View
April 11, 2024, 4:44 a.m. | Tong Zhao, Lei Yang, Yichen Xie, Mingyu Ding, Masayoshi Tomizuka, Yintao Wei
cs.CV updates on arXiv.org arxiv.org
Abstract: Road surface conditions, especially geometry profiles, enormously affect driving performance of autonomous vehicles. Vision-based online road reconstruction promisingly captures road information in advance. Existing solutions like monocular depth estimation and stereo matching suffer from modest performance. The recent technique of Bird's-Eye-View (BEV) perception provides immense potential to more reliable and accurate reconstruction. This paper uniformly proposes two simple yet effective models for road elevation reconstruction in BEV named RoadBEV-mono and RoadBEV-stereo, which estimate road elevation …
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