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Recent camera-based 3D semantic scene completion (SSC) methods have increasingly explored leveraging temporal cues to enrich the features of the current frame. However, while these approaches primarily focus on enhancing in-frame regions,…
Camera-based 3D semantic scene completion (SSC) provides dense geometric and semantic perception for autonomous driving. However, images provide limited information making the model susceptible to geometric ambiguity caused by occlusion and…
Self-supervised monocular depth estimation, aiming to learn scene depths from single images in a self-supervised manner, has received much attention recently. In spite of recent efforts in this field, how to learn accurate scene depths and…
Semantic Scene Completion (SSC) refers to the task of inferring the 3D semantic segmentation of a scene while simultaneously completing the 3D shapes. We propose PALNet, a novel hybrid network for SSC based on single depth. PALNet utilizes…
Semantic scene completion (SSC) jointly predicts the semantics and geometry of the entire 3D scene, which plays an essential role in 3D scene understanding for autonomous driving systems. SSC has achieved rapid progress with the help of…
This paper focuses on semantic scene completion, a task for producing a complete 3D voxel representation of volumetric occupancy and semantic labels for a scene from a single-view depth map observation. Previous work has considered scene…
Monocular Semantic Occupancy Prediction aims to infer the complete 3D geometry and semantic information of scenes from only 2D images. It has garnered significant attention, particularly due to its potential to enhance the 3D perception of…
Monocular depth estimation involves predicting depth from a single RGB image and plays a crucial role in applications such as autonomous driving, robotic navigation, 3D reconstruction, etc. Recent advancements in learning-based methods have…
3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception. Existing methods based on 3D Gaussians instead of dense…
This paper tackles the problem of data fusion in the semantic scene completion (SSC) task, which can simultaneously deal with semantic labeling and scene completion. RGB images contain texture details of the object(s) which are vital for…
3D reconstruction has been widely used in autonomous navigation fields of mobile robotics. However, the former research can only provide the basic geometry structure without the capability of open-world scene understanding, limiting…
Visual Odometry (VO) plays a pivotal role in autonomous systems, with a principal challenge being the lack of depth information in camera images. This paper introduces OCC-VO, a novel framework that capitalizes on recent advances in deep…
3D semantic occupancy prediction is a cornerstone for embodied AI, enabling agents to perceive dense scene geometry and semantics incrementally from monocular video streams. However, current online frameworks face two critical bottlenecks:…
The vision-based semantic scene completion task aims to predict dense geometric and semantic 3D scene representations from 2D images. However, the presence of dynamic objects in the scene seriously affects the accuracy of the model…
Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…
Active stereo systems are used in many robotic applications that require 3D information. These depth sensors, however, suffer from stereo artefacts and do not provide dense depth estimates.In this work, we present the first self-supervised…
In this paper, we present a novel indoor 3D reconstruction method with occluded surface completion, given a sequence of depth readings. Prior state-of-the-art (SOTA) methods only focus on the reconstruction of the visible areas in a scene,…
3D semantic occupancy prediction has emerged as a critical perception task for autonomous driving due to its ability to offer voxel-level semantic and geometric understanding of the environment. However, such a refined representation for…
We propose a self-supervised monocular depth estimation network tailored for endoscopic scenes, aiming to infer depth within the gastrointestinal tract from monocular images. Existing methods, though accurate, typically assume consistent…
Semantic Scene Completion (SSC) constitutes a pivotal element in autonomous driving perception systems, tasked with inferring the 3D semantic occupancy of a scene from sensory data. To improve accuracy, prior research has implemented…