Tri-Perspective View for Vision-Based 3D Semantic Occupancy Prediction
Tri-Perspective View for Vision-Based 3D Semantic Occupancy Prediction
Modern methods for vision-centric autonomous driving perception widely adopt the bird's-eye-view (BEV) representation to describe a 3D scene. Despite its better efficiency than voxel representation, it has difficulty describing the fine-grained 3D structure of a scene with a single plane. To address this, we propose a tri-perspective view (TPV) representation …