Related papers: LeC$^2$O-NeRF: Learning Continuous and Compact Lar…
Neural implicit representations such as NeRF have revolutionized 3D scene representation with photo-realistic quality. However, existing methods for visual localization within NeRF representations suffer from inefficiency and scalability…
Neural Radiance Fields (NeRFs) are a powerful representation for modeling a 3D scene as a continuous function. Though NeRF is able to render complex 3D scenes with view-dependent effects, few efforts have been devoted to exploring its…
While 3D object bounding box (bbox) representation has been widely used in autonomous driving perception, it lacks the ability to capture the precise details of an object's intrinsic geometry. Recently, occupancy has emerged as a promising…
NeRFs have revolutionized the world of per-scene radiance field reconstruction because of their intrinsic compactness. One of the main limitations of NeRFs is their slow rendering speed, both at training and inference time. Recent research…
Neural Radiance Field (NeRF) has emerged as a compelling method to represent 3D objects and scenes for photo-realistic rendering. However, its implicit representation causes difficulty in manipulating the models like the explicit mesh…
A critical limitation of current methods based on Neural Radiance Fields (NeRF) is that they are unable to quantify the uncertainty associated with the learned appearance and geometry of the scene. This information is paramount in real…
Learning 3D scene geometry and semantics from images is a core challenge in computer vision and a key capability for autonomous driving. Since large-scale 3D annotation is prohibitively expensive, recent work explores self-supervised…
3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…
Understanding the 3D geometry and semantics of driving scenes is critical for safe autonomous driving. Recent advances in 3D occupancy prediction have improved scene representation but often suffer from visual inconsistencies, leading to…
Given a monocular video, segmenting and decoupling dynamic objects while recovering the static environment is a widely studied problem in machine intelligence. Existing solutions usually approach this problem in the image domain, limiting…
With the advent of Neural Radiance Field (NeRF), representing 3D scenes through multiple observations has shown remarkable improvements in performance. Since this cutting-edge technique is able to obtain high-resolution renderings by…
Occupancy prediction infers fine-grained 3D geometry and semantics from camera images of the surrounding environment, making it a critical perception task for autonomous driving. Existing methods either adopt dense grids as scene…
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…
Neural radiance fields (NeRFs) have emerged as a prominent pre-training paradigm for vision-centric autonomous driving, which enhances 3D geometry and appearance understanding in a fully self-supervised manner. To apply NeRF-based…
Occupancy grids encode for hot spots on a map that is represented by a two dimensional grid of disjoint cells. The problem is to recursively update the probability that each cell in the grid is occupied, based on a sequence of sensor…
This paper addresses the problem of learning instantaneous occupancy levels of dynamic environments and predicting future occupancy levels. Due to the complexity of most real-world environments, such as urban streets or crowded areas, the…
Extensions of Neural Radiance Fields (NeRFs) to model dynamic scenes have enabled their near photo-realistic, free-viewpoint rendering. Although these methods have shown some potential in creating immersive experiences, two drawbacks limit…
Monocular 3D detection is a challenging task due to the lack of accurate 3D information. Existing approaches typically rely on geometry constraints and dense depth estimates to facilitate the learning, but often fail to fully exploit the…
Implicit neural representations have shown powerful capacity in modeling real-world 3D scenes, offering superior performance in novel view synthesis. In this paper, we target a more challenging scenario, i.e., joint scene novel view…
In the realm of autonomous driving, achieving precise 3D reconstruction of the driving environment is critical for ensuring safety and effective navigation. Neural Radiance Fields (NeRF) have shown promise in creating highly detailed and…