Related papers: Urban Scene Diffusion through Semantic Occupancy M…

Synthetic datasets are widely used for training urban scene recognition models, but even highly realistic renderings show a noticeable gap to real imagery. This gap is particularly pronounced when adapting to a specific target domain, such…

In this work we propose a deep learning pipeline to predict the visual future appearance of an urban scene. Despite recent advances, generating the entire scene in an end-to-end fashion is still far from being achieved. Instead, here we…

3D scene generation conditioned on text prompts has significantly progressed due to the development of 2D diffusion generation models. However, the textual description of 3D scenes is inherently inaccurate and lacks fine-grained control…

3D scene generation has garnered growing attention in recent years and has made significant progress. Generating 4D cities is more challenging than 3D scenes due to the presence of structurally complex, visually diverse objects like…

The Bird-Eye-View (BEV) is one of the most widely-used scene representations for visual perception in Autonomous Vehicles (AVs) due to its well suited compatibility to downstream tasks. For the enhanced safety of AVs, modeling perception…

Although generative AI has been successful in many areas, its ability to model geospatial data is still underexplored. Urban flow, a typical kind of geospatial data, is critical for a wide range of urban applications. Existing studies…

Safety is critical for autonomous driving, and one aspect of improving safety is to accurately capture the uncertainties of the perception system, especially knowing the unknown. Different from only providing deterministic or probabilistic…

Diffusion models generate images with an unprecedented level of quality, but how can we freely rearrange image layouts? Recent works generate controllable scenes via learning spatially disentangled latent codes, but these methods do not…

Autonomous navigation and exploration in unmapped environments remains a significant challenge in robotics due to the difficulty robots face in making commonsense inference of unobserved geometries. Recent advancements have demonstrated…

Multi-sensor fusion is essential for an accurate and reliable autonomous driving system. Recent approaches are based on point-level fusion: augmenting the LiDAR point cloud with camera features. However, the camera-to-LiDAR projection…

World models have attracted increasing attention in autonomous driving for their ability to forecast potential future scenarios. In this paper, we propose BEVWorld, a novel framework that transforms multimodal sensor inputs into a unified…

We present a novel approach for enhancing robotic exploration by using generative occupancy mapping. We implement SceneSense, a diffusion model designed and trained for predicting 3D occupancy maps given partial observations. Our proposed…

Autonomous navigation requires structured representation of the road network and instance-wise identification of the other traffic agents. Since the traffic scene is defined on the ground plane, this corresponds to scene understanding in…

Generating photorealistic images with controllable camera pose and scene contents is essential for many applications including AR/VR and simulation. Despite the fact that rapid progress has been made in 3D-aware generative models, most…

Text-to-image models are showcasing the impressive ability to create high-quality and diverse generative images. Nevertheless, the transition from freehand sketches to complex scene images remains challenging using diffusion models. In this…

Generative models have advanced significantly in realistic image synthesis, with diffusion models excelling in quality and stability. Recent multi-view diffusion models improve 3D-aware street view generation, but they struggle to produce…

Diffusion models are advancing autonomous driving by enabling realistic data synthesis, predictive end-to-end planning, and closed-loop simulation, with a primary focus on temporally consistent generation. However, large-scale 3D scene…

Awareness of the road scene is an essential component for both autonomous vehicles and Advances Driver Assistance Systems and is gaining importance both for the academia and car companies. This paper presents a way to learn a semantic-aware…

3D occupancy perception technology aims to observe and understand dense 3D environments for autonomous vehicles. Owing to its comprehensive perception capability, this technology is emerging as a trend in autonomous driving perception…

Guided synthesis of high-quality 3D scenes is a challenging task. Diffusion models have shown promise in generating diverse data, including 3D scenes. However, current methods rely directly on text embeddings for controlling the generation,…