Related papers: Diffusion-Occ: 3D Point Cloud Completion via Occup…

In this paper, we explore a novel point representation for 3D occupancy prediction from multi-view images, which is named Occupancy as Set of Points. Existing camera-based methods tend to exploit dense volume-based representation to predict…

Point clouds are commonly used in various practical applications such as autonomous driving and the manufacturing industry. However, these point clouds often suffer from incompleteness due to limited perspectives, scanner resolution and…

Diffusion models have emerged as the dominant paradigm for high-quality image generation, yet their computational expense remains substantial due to iterative denoising. Classifier-Free Guidance (CFG) significantly enhances generation…

Classification and segmentation of 3D point clouds are important tasks in computer vision. Because of the irregular nature of point clouds, most of the existing methods convert point clouds into regular 3D voxel grids before they are used…

Estimating the pose of objects from images is a crucial task of 3D scene understanding, and recent approaches have shown promising results on very large benchmarks. However, these methods experience a significant performance drop when…

Out-of-distribution (OOD) detection is crucial for deploying robust machine learning models, especially in areas where security is critical. However, traditional OOD detection methods often fail to capture complex data distributions from…

Optical satellite images are a critical data source; however, cloud cover often compromises their quality, hindering image applications and analysis. Consequently, effectively removing clouds from optical satellite images has emerged as a…

Point clouds collected from real-world environments are often incomplete due to factors such as limited sensor resolution, single viewpoints, occlusions, and noise. These challenges make point cloud completion essential for various…

In this paper, we learn a diffusion model to generate 3D data on a scene-scale. Specifically, our model crafts a 3D scene consisting of multiple objects, while recent diffusion research has focused on a single object. To realize our goal,…

This paper presents a novel latent 3D diffusion model for the generation of neural voxel fields, aiming to achieve accurate part-aware structures. Compared to existing methods, there are two key designs to ensure high-quality and accurate…

Efficient and high-accuracy 3D occupancy prediction is vital for the performance of autonomous driving systems. However, existing methods struggle to balance precision and efficiency: high-accuracy approaches are often hindered by heavy…

Existing convolutional learning methods for 3D point cloud data are divided into two paradigms: point-based methods that preserve geometric precision but often face performance challenges, and voxel-based methods that achieve high…

Accurate completion and denoising of roof height maps are crucial to reconstructing high-quality 3D buildings. Repairing sparse points can enhance low-cost sensor use and reduce UAV flight overlap. RoofDiffusion is a new end-to-end…

Point clouds-based Networks have achieved great attention in 3D object classification, segmentation and indoor scene semantic parsing. In terms of face recognition, 3D face recognition method which directly consume point clouds as input is…

In this paper, we investigate the use of diffusion models which are pre-trained on large-scale image-caption pairs for open-vocabulary 3D semantic understanding. We propose a novel method, namely Diff2Scene, which leverages frozen…

Occupancy Network has recently attracted much attention in autonomous driving. Instead of monocular 3D detection and recent bird's eye view(BEV) models predicting 3D bounding box of obstacles, Occupancy Network predicts the category of…

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…

We introduce R2LDM, an innovative approach for generating dense and accurate 4D radar point clouds, guided by corresponding LiDAR point clouds. Instead of utilizing range images or bird's eye view (BEV) images, we represent both LiDAR and…

3D occupancy, an advanced perception technology for driving scenarios, represents the entire scene without distinguishing between foreground and background by quantifying the physical space into a grid map. The widely adopted…

In this technical report, we present our solution for the Vision-Centric 3D Occupancy and Flow Prediction track in the nuScenes Open-Occ Dataset Challenge at CVPR 2024. Our innovative approach involves a dual-stage framework that enhances…