Related papers: PVP: Polar Representation Boost for 3D Semantic Oc…
Recent advancements in camera-based occupancy prediction have focused on the simultaneous prediction of 3D semantics and scene flow, a task that presents significant challenges due to specific difficulties, e.g., occlusions and unbalanced…
This paper introduces VLMFusionOcc3D, a robust multimodal framework for dense 3D semantic occupancy prediction in autonomous driving. Current voxel-based occupancy models often struggle with semantic ambiguity in sparse geometric grids and…
We present RangeRCNN, a novel and effective 3D object detection framework based on the range image representation. Most existing methods are voxel-based or point-based. Though several optimizations have been introduced to ease the sparsity…
Vision-based perception for autonomous driving requires an explicit modeling of a 3D space, where 2D latent representations are mapped and subsequent 3D operators are applied. However, operating on dense latent spaces introduces a cubic…
Existing methods of multi-person video 3D human Pose and Shape Estimation (PSE) typically adopt a two-stage strategy, which first detects human instances in each frame and then performs single-person PSE with temporal model. However, the…
Monocular depth estimation is a fundamental yet challenging task in computer vision, especially under complex conditions such as textureless surfaces, transparency, and specular reflections. Recent diffusion-based approaches have…
Succinct representation of complex signals using coordinate-based neural representations (CNRs) has seen great progress, and several recent efforts focus on extending them for handling videos. Here, the main challenge is how to (a)…
3D detection based on surround-view camera system is a critical technique in autopilot. In this work, we present Polar Parametrization for 3D detection, which reformulates position parametrization, velocity decomposition, perception range,…
Depth completion is a vital task for autonomous driving, as it involves reconstructing the precise 3D geometry of a scene from sparse and noisy depth measurements. However, most existing methods either rely only on 2D depth representations…
The point cloud is gaining prominence as a method for representing 3D shapes, but its irregular format poses a challenge for deep learning methods. The common solution of transforming the data into a 3D voxel grid introduces its own…
In this paper we provide an overview of a new framework for robot perception, real-world modelling, and navigation that uses a stochastic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a…
The ever-growing size of modern space-time data sets, such as those collected by remote sensing, requires new techniques for their efficient and automated processing, including gap-filling of missing values. CUDA-based parallelization on…
Open-vocabulary 3D visual grounding aims to localize target objects based on free-form language queries, which is crucial for embodied AI applications such as autonomous navigation, robotics, and augmented reality. Learning 3D language…
For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning. Recent approaches have attempted to leverage features…
Dense 3D convolutions provide high accuracy for perception but are too computationally expensive for real-time robotic systems. Existing tri-plane methods rely on 2D image features with interpolation, point-wise queries, and implicit MLPs,…
Generating learning-friendly representations for points in a 2D space is a fundamental and long-standing problem in machine learning. Recently, multi-scale encoding schemes (such as Space2Vec) were proposed to directly encode any point in…
Vision-based 3D semantic occupancy prediction is vital for autonomous driving, enabling unified modeling of static infrastructure and dynamic agents. Global occupancy maps serve as long-term memory priors, providing valuable historical…
Environmental sensors are crucial for monitoring weather conditions and the impacts of climate change. However, it is challenging to place sensors in a way that maximises the informativeness of their measurements, particularly in remote…
Modeling dynamic, large-scale urban scenes is challenging due to their highly intricate geometric structures and unconstrained dynamics in both space and time. Prior methods often employ high-level architectural priors, separating static…
We propose Multi-view Pyramid Transformer (MVP), a scalable multi-view transformer architecture that directly reconstructs large 3D scenes from tens to hundreds of images in a single forward pass. Drawing on the idea of ``looking broader to…