Related papers: DAOcc: 3D Object Detection Assisted Multi-Sensor F…

Existing vision-based 3D occupancy prediction methods are inherently limited in accuracy due to their exclusive reliance on street-view imagery, neglecting the potential benefits of incorporating satellite views. We propose SA-Occ, the…

3D semantic occupancy prediction is crucial for finely representing the surrounding environment, which is essential for ensuring the safety in autonomous driving. Existing fusion-based occupancy methods typically involve performing a…

3D occupancy-based perception pipeline has significantly advanced autonomous driving by capturing detailed scene descriptions and demonstrating strong generalizability across various object categories and shapes. Current methods…

3D occupancy prediction plays a pivotal role in the realm of autonomous driving, as it provides a comprehensive understanding of the driving environment. Most existing methods construct dense scene representations for occupancy prediction,…

3D occupancy prediction is an important task for the robustness of vision-centric autonomous driving, which aims to predict whether each point is occupied in the surrounding 3D space. Existing methods usually require 3D occupancy labels to…

3D semantic occupancy prediction is a pivotal task in the field of autonomous driving. Recent approaches have made great advances in 3D semantic occupancy predictions on a single modality. However, multi-modal semantic occupancy prediction…

Occupancy prediction has garnered increasing attention in recent years for its comprehensive fine-grained environmental representation and strong generalization to open-set objects. However, cumbersome voxel features and 3D convolution…

Occupancy and 3D object detection are characterized as two standard tasks in modern autonomous driving system. In order to deploy them on a series of edge chips with better precision and time-consuming trade-off, contemporary approaches…

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…

The resolution of voxel queries significantly influences the quality of view transformation in camera-based 3D occupancy prediction. However, computational constraints and the practical necessity for real-time deployment require smaller…

Multimodal 3D occupancy prediction has garnered significant attention for its potential in autonomous driving. However, most existing approaches are single-modality: camera-based methods lack depth information, while LiDAR-based methods…

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…

3D occupancy prediction holds significant promise in the fields of robot perception and autonomous driving, which quantifies 3D scenes into grid cells with semantic labels. Recent works mainly utilize complete occupancy labels in 3D voxel…

The prediction of 3D semantic occupancy enables autonomous vehicles (AVs) to perceive the fine-grained geometric and semantic scene structure for safe navigation and decision-making. Existing methods mainly rely on either voxel-based…

Panoptic occupancy poses a novel challenge by aiming to integrate instance occupancy and semantic occupancy within a unified framework. However, there is still a lack of efficient solutions for panoptic occupancy. In this paper, we propose…

3D semantic occupancy prediction requires accurate 2D-to-3D feature lifting, yet current methods restrict camera geometry to initial projections. Subsequent operations like offset learning, attention weighting, and cross-camera aggregation…

Occupancy prediction plays a pivotal role in autonomous driving. Previous methods typically construct dense 3D volumes, neglecting the inherent sparsity of the scene and suffering from high computational costs. To bridge the gap, we…

LiDAR-based 3D occupancy prediction evolved rapidly alongside the emergence of large datasets. Nevertheless, the potential of existing diverse datasets remains underutilized as they kick in individually. Models trained on a specific dataset…

3D occupancy becomes a promising perception representation for autonomous driving to model the surrounding environment at a fine-grained scale. However, it remains challenging to efficiently aggregate 3D occupancy over time across multiple…

In this technical report, we present our solution, named UniOCC, for the Vision-Centric 3D occupancy prediction track in the nuScenes Open Dataset Challenge at CVPR 2023. Existing methods for occupancy prediction primarily focus on…