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摘要 / Abstract
Bird's-Eye-View (BEV) perception is fundamental for autonomous driving, providing a unified spatial representation that fuses surrounding-view images for downstream tasks like semantic segmentation, 3D object detection, and motion prediction. Current end-to-end BEV frameworks treat image-to-BEV transformation as a black box, lacking explicit 3D geometric understanding and often yielding suboptimal performance. This paper introduces Splat2BEV, a Gaussian Splatting-assisted framework that learns BEV feature representations combining semantic richness with geometric precision. By leveraging 3D Gaussian Splatting for reconstruction, the method explicitly incorporates 3D geometry awareness into the BEV perception pipeline, addressing the limitations of traditional end-to-end approaches.
鸟瞰图(BEV)感知是自动驾驶的基础,它提供统一的空间表示,融合周围视图图像以支持语义分割、3D目标检测和运动预测等下游任务。当前端到端BEV框架将图像到BEV的转换视为黑盒,缺乏明确的3D几何理解,性能往往欠佳。本文提出Splat2BEV,一个利用3D Gaussian Splatting进行重建的框架,学习结合语义丰富性与几何精度的BEV特征表示。该方法明确地将3D几何感知融入BEV感知流程,解决了传统端到端方法的局限性。
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