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CleverDistiller: Simple and Spatially Consistent Cross-modal Distillation
Hariprasath Govindarajan, Maciej K. Wozniak, Marvin Klingner +3
Vision foundation models (VFMs) such as DINO have led to a paradigm shift in 2D camera-based perception towards extracting generalized features to support many downstream tasks. Re…
S3PT: Scene Semantics and Structure Guided Clustering to Boost Self-Supervised Pre-Training for Autonomous Driving
Maciej K. Wozniak, Hariprasath Govindarajan, Marvin Klingner +3
Recent self-supervised clustering-based pre-training techniques like DINO and Cribo have shown impressive results for downstream detection and segmentation tasks. However, real-wor…
X-Align++: cross-modal cross-view alignment for Bird's-eye-view segmentation
Shubhankar Borse, Senthil Yogamani, Marvin Klingner +4
Bird's-eye-view (BEV) grid is a typical representation of the perception of road components, e.g., drivable area, in autonomous driving. Most existing approaches rely on cameras on…
XKD: Knowledge Distillation Across Modalities, Tasks and Stages for Multi-Camera 3D Object Detection
Marvin Klingner, Shubhankar Borse, Varun Ravi Kumar +4
Recent advances in 3D object detection (3DOD) have obtained remarkably strong results for LiDAR-based models. In contrast, surround-view 3DOD models based on multiple camera images…
X-Align: Cross-Modal Cross-View Alignment for Bird's-Eye-View Segmentation
Shubhankar Borse, Marvin Klingner, Varun Ravi Kumar +4
Bird's-eye-view (BEV) grid is a common representation for the perception of road components, e.g., drivable area, in autonomous driving. Most existing approaches rely on cameras on…
Improving Online Performance Prediction for Semantic Segmentation
Marvin Klingner, Andreas Bär, Marcel Mross +1
In this work we address the task of observing the performance of a semantic segmentation deep neural network (DNN) during online operation, i.e., during inference, which is of high…