RoadBEV: Road Surface Reconstruction in Bird's Eye View
Fuente:
arXiv
Salvato in:
| Autori principali: | , , , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2024
|
| Soggetti: | |
| Accesso online: | |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866929451033427968 |
|---|---|
| author | Zhao, Tong Yang, Lei Xie, Yichen Ding, Mingyu Tomizuka, Masayoshi Wei, Yintao |
| author_facet | Zhao, Tong Yang, Lei Xie, Yichen Ding, Mingyu Tomizuka, Masayoshi Wei, Yintao |
| contents | 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 with monocular and stereo images, respectively. The former directly fits elevation values based on voxel features queried from image view, while the latter efficiently recognizes road elevation patterns based on BEV volume representing correlation between left and right voxel features. Insightful analyses reveal their consistence and difference with the perspective view. Experiments on real-world dataset verify the models' effectiveness and superiority. Elevation errors of RoadBEV-mono and RoadBEV-stereo achieve 1.83 cm and 0.50 cm, respectively. Our models are promising for practical road preview, providing essential information for promoting safety and comfort of autonomous vehicles. The code is released at https://github.com/ztsrxh/RoadBEV |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_06605 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | RoadBEV: Road Surface Reconstruction in Bird's Eye View Zhao, Tong Yang, Lei Xie, Yichen Ding, Mingyu Tomizuka, Masayoshi Wei, Yintao Computer Vision and Pattern Recognition 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 with monocular and stereo images, respectively. The former directly fits elevation values based on voxel features queried from image view, while the latter efficiently recognizes road elevation patterns based on BEV volume representing correlation between left and right voxel features. Insightful analyses reveal their consistence and difference with the perspective view. Experiments on real-world dataset verify the models' effectiveness and superiority. Elevation errors of RoadBEV-mono and RoadBEV-stereo achieve 1.83 cm and 0.50 cm, respectively. Our models are promising for practical road preview, providing essential information for promoting safety and comfort of autonomous vehicles. The code is released at https://github.com/ztsrxh/RoadBEV |
| title | RoadBEV: Road Surface Reconstruction in Bird's Eye View |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2404.06605 |