HFT: Lifting Perspective Representations via Hybrid Feature Transformation for BEV Perception
Jiayu Zou,Zheng Zhu,Junjie Huang,Tian Yang,Guan Huang,Xingang Wang,Jiayu Zou,Zheng Zhu,Junjie Huang,Tian Yang,Guan Huang,Xingang Wang
Restoring an accurate Bird's Eye View (BEV) map plays a crucial role in the perception of autonomous driving. The existing works of lifting representations from frontal view to BEV can be classified into two categories, i.e., Camera model-Based Feature Transformation (CBFT) and Camera model-Free Feature Transformation (CFFT). We empirically analyze the significant differences between CBFT and CFFT...
