Related papers: MR-Occ: Efficient Camera-LiDAR 3D Semantic Occupan…

Unmanned Aerial Vehicle (UAV) swarm systems necessitate efficient collaborative perception mechanisms for diverse operational scenarios. Current Bird's Eye View (BEV)-based approaches exhibit two main limitations: bounding-box…

3D semantic occupancy and flow prediction are fundamental to spatiotemporal scene understanding. This paper proposes a vision-based framework with three targeted improvements. First, we introduce an occlusion-aware adaptive lifting…

In this paper, we introduce ProtoOcc, a novel 3D occupancy prediction model designed to predict the occupancy states and semantic classes of 3D voxels through a deep semantic understanding of scenes. ProtoOcc consists of two main…

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…

3D semantic occupancy prediction is a cornerstone for embodied AI, enabling agents to perceive dense scene geometry and semantics incrementally from monocular video streams. However, current online frameworks face two critical bottlenecks:…

Camera-based 3D semantic scene completion (SSC) offers a cost-effective solution for assessing the geometric occupancy and semantic labels of each voxel in the surrounding 3D scene with image inputs, providing a voxel-level scene perception…

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…

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…

We address an advanced challenge of predicting pedestrian occupancy as an extension of multi-view pedestrian detection in urban traffic. To support this, we have created a new synthetic dataset called MVP-Occ, designed for dense pedestrian…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

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…

The vision-based perception for autonomous driving has undergone a transformation from the bird-eye-view (BEV) representations to the 3D semantic occupancy. Compared with the BEV planes, the 3D semantic occupancy further provides structural…

The safe operation of automated vehicles depends on their ability to perceive the environment comprehensively. However, occlusion, sensor range, and environmental factors limit their perception capabilities. To overcome these limitations,…

Camera-based 3D Semantic Scene Completion (SSC) is a critical task for autonomous driving and robotic scene understanding. It aims to infer a complete 3D volumetric representation of both semantics and geometry from a single image. Existing…

Visual-based 3D semantic occupancy perception is a key technology for robotics, including autonomous vehicles, offering an enhanced understanding of the environment by 3D. This approach, however, typically requires more computational…

Human driver can easily describe the complex traffic scene by visual system. Such an ability of precise perception is essential for driver's planning. To achieve this, a geometry-aware representation that quantizes the physical 3D scene…

Vision-Language Models (VLMs) have shown significant progress in open-set challenges. However, the limited availability of 3D datasets hinders their effective application in 3D scene understanding. We propose LOC, a general language-guided…

Recent advances in neural radiance fields (NeRFs) achieve state-of-the-art novel view synthesis and facilitate dense estimation of scene properties. However, NeRFs often fail for large, unbounded scenes that are captured under very sparse…

In autonomous driving, Vision Language Models (VLMs) excel at high-level reasoning , whereas semantic occupancy provides fine-grained details. Despite significant progress in individual fields, there is still no method that can effectively…

Large Language Models (LLMs) have made substantial advancements in the field of robotic and autonomous driving. This study presents the first Occupancy-based Large Language Model (Occ-LLM), which represents a pioneering effort to integrate…