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Learning to capture dependencies between spatial positions is essential to many visual tasks, especially the dense labeling problems like scene parsing. Existing methods can effectively capture long-range dependencies with self-attention…

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…

With Neural Radiance Fields (NeRFs) arising as a powerful 3D representation, research has investigated its various downstream tasks, including inpainting NeRFs with 2D images. Despite successful efforts addressing the view consistency and…

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…

Dynamic neural radiance fields (dynamic NeRFs) have demonstrated impressive results in novel view synthesis on 3D dynamic scenes. However, they often require complete video sequences for training followed by novel view synthesis, which is…

Autonomous rendezvous and proximity operations around uncooperative, unknown spacecraft are critical for active debris removal and on-orbit servicing missions. A key component of such operations is the offline reconstruction of a 3D model…

This paper introduces a novel continual learning framework for synthesising novel views of multiple scenes, learning multiple 3D scenes incrementally, and updating the network parameters only with the training data of the upcoming new…

Autonomous driving in complex urban scenarios requires 3D perception to be both comprehensive and precise. Traditional 3D perception methods focus on object detection, resulting in sparse representations that lack environmental detail.…

Robotic perception requires the modeling of both 3D geometry and semantics. Existing methods typically focus on estimating 3D bounding boxes, neglecting finer geometric details and struggling to handle general, out-of-vocabulary objects. 3D…

We propose a novel visual re-localization method based on direct matching between the implicit 3D descriptors and the 2D image with transformer. A conditional neural radiance field(NeRF) is chosen as the 3D scene representation in our…

In this paper, we propose a One-Point-One NeRF (OPONeRF) framework for robust scene rendering. Existing NeRFs are designed based on a key assumption that the target scene remains unchanged between the training and test time. However, small…

Occupancy prediction, aiming at predicting the occupancy status within voxelized 3D environment, is quickly gaining momentum within the autonomous driving community. Mainstream occupancy prediction works first discretize the 3D environment…

Modeling and understanding the environment is an essential task for autonomous driving. In addition to the detection of objects, in complex traffic scenarios the motion of other road participants is of special interest. Therefore, we…

Existing neural radiance fields (NeRF) methods for large-scale scene modeling require days of training using multiple GPUs, hindering their applications in scenarios with limited computing resources. Despite fast optimization NeRF variants…

The task of occupancy forecasting (OCF) involves utilizing past and present perception data to predict future occupancy states of autonomous vehicle surrounding environments, which is critical for downstream tasks such as obstacle avoidance…

In the fields of computer graphics, computer vision and photogrammetry, Neural Radiance Fields (NeRFs) are a major topic driving current research and development. However, the quality of NeRF-generated 3D scene reconstructions and…

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…

Occupancy grid mapping is an important component in road scene understanding for autonomous driving. It encapsulates information of the drivable area, road obstacles and enables safe autonomous driving. Radars are an emerging sensor in…

3D scene understanding plays a vital role in vision-based autonomous driving. While most existing methods focus on 3D object detection, they have difficulty describing real-world objects of arbitrary shapes and infinite classes. Towards a…

Neural Radiance Fields (NeRF) has been wildly applied to various tasks for its high-quality representation of 3D scenes. It takes long per-scene training time and per-image testing time. In this paper, we present EfficientNeRF as an…