Related papers: VEON: Vocabulary-Enhanced Occupancy Prediction

Open-vocabulary 3D object detection (OV-3Det) aims to generalize beyond the limited number of base categories labeled during the training phase. The biggest bottleneck is the scarcity of annotated 3D data, whereas 2D image datasets are…

Open-vocabulary object detection (OVOD) aims to detect the objects beyond the set of classes observed during training. This work introduces a straightforward and efficient strategy that utilizes pre-trained vision-language models (VLM),…

The task of estimating 3D occupancy from surrounding-view images is an exciting development in the field of autonomous driving, following the success of Bird's Eye View (BEV) perception. This task provides crucial 3D attributes of the…

This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…

The capability for open vocabulary perception represents a significant advancement in autonomous driving systems, facilitating the comprehension and interpretation of a wide array of textual inputs in real-time. Despite extensive research…

Robust 3D occupancy prediction is essential for autonomous driving, particularly under adverse weather conditions where traditional vision-only systems struggle. While the fusion of surround-view 4D radar and cameras offers a promising…

Unmanned Aerial Vehicle (UAV) swarm systems necessitate efficient collaborative perception mechanisms for diverse operational scenarios. Current Bird's Eye View (BEV)-based approaches exhibit two main limitations: bounding-box…

Vision-and-Language Navigation (VLN) is a core task where embodied agents leverage their spatial mobility to navigate in 3D environments toward designated destinations based on natural language instructions. Recently, video-language large…

3D semantic occupancy prediction is central to autonomous driving, yet current methods are vulnerable to long-tailed class bias and out-of-distribution (OOD) inputs, often overconfidently assigning anomalies to rare classes. We present…

Accurate 3D semantic occupancy perception is essential for autonomous driving in complex environments with diverse and irregular objects. While vision-centric methods suffer from geometric inaccuracies, LiDAR-based approaches often lack…

Traditional closed-set 3D detection frameworks fail to meet the demands of open-world applications like autonomous driving. Existing open-vocabulary 3D detection methods typically adopt a two-stage pipeline consisting of pseudo-label…

Multimodal large language models (MLLMs) have shown strong vision-language reasoning abilities but still lack robust 3D spatial understanding, which is critical for autonomous driving. This limitation stems from two key challenges: (1) the…

This technical report summarizes the winning solution for the 3D Occupancy Prediction Challenge, which is held in conjunction with the CVPR 2023 Workshop on End-to-End Autonomous Driving and CVPR 23 Workshop on Vision-Centric Autonomous…

Collaborative perception in automated vehicles leverages the exchange of information between agents, aiming to elevate perception results. Previous camera-based collaborative 3D perception methods typically employ 3D bounding boxes or…

Open-Vocabulary Segmentation (OVS) aims at segmenting images from free-form textual concepts without predefined training classes. While existing vision-language models such as CLIP can generate segmentation masks by leveraging coarse…

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…

Open-vocabulary detection (OVD) aims to detect novel objects without instance-level annotations to achieve open-world object detection at a lower cost. Existing OVD methods mainly rely on the powerful open-vocabulary image-text alignment…

Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus…

Learning from pseudo-labels that generated with VLMs~(Vision Language Models) has been shown as a promising solution to assist open vocabulary detection (OVD) in recent studies. However, due to the domain gap between VLM and…

To identify objects beyond predefined categories, open-vocabulary aerial object detection (OVAD) leverages the zero-shot capabilities of visual-language models (VLMs) to generalize from base to novel categories. Existing approaches…