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Efficient and high-accuracy 3D occupancy prediction is vital for the performance of autonomous driving systems. However, existing methods struggle to balance precision and efficiency: high-accuracy approaches are often hindered by heavy…

Collaborative perception in automated vehicles leverages the exchange of information between agents, aiming to elevate perception results. Previous camera-based collaborative 3D perception methods typically employ 3D bounding boxes or…

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 semantic occupancy prediction in the past was considered to require precise geometric relationships in order to enable effective training. However, in complex indoor environments, the large-scale and widespread collection of data, along…

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…

Self-supervised 3D occupancy prediction offers a promising solution for understanding complex driving scenes without requiring costly 3D annotations. However, training dense occupancy decoders to capture fine-grained geometry and semantics…

In perception for automated vehicles, safety is critical not only for the driver but also for other agents in the scene, particularly vulnerable road users such as pedestrians and cyclists. Previous representation methods, such as Bird's…

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…

3D occupancy prediction has recently emerged as a new paradigm for holistic 3D scene understanding and provides valuable information for downstream planning in autonomous driving. Most existing methods, however, are computationally…

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…

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…

Semantic occupancy perception is essential for autonomous driving, as automated vehicles require a fine-grained perception of the 3D urban structures. However, existing relevant benchmarks lack diversity in urban scenes, and they only…

The performance of multi-modal 3D occupancy prediction is limited by ineffective fusion, mainly due to geometry-semantics mismatch from fixed fusion strategies and surface detail loss caused by sparse, noisy annotations. The mismatch stems…

Dense 3D semantic occupancy perception is critical for mobile robots operating in pedestrian-rich environments, yet it remains underexplored compared to its application in autonomous driving. To address this gap, we present MobileOcc, a…

3D occupancy prediction has become a key perception task in autonomous driving, as it enables comprehensive scene understanding. Recent methods enhance this understanding by incorporating spatiotemporal information through multi-frame…

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…

Visual grounding aims to identify objects or regions in a scene based on natural language descriptions, essential for spatially aware perception in autonomous driving. However, existing visual grounding tasks typically depend on bounding…

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…

Driven by autonomous driving's demands for precise 3D perception, 3D semantic occupancy prediction has become a pivotal research topic. Unlike bird's-eye-view (BEV) methods, which restrict scene representation to a 2D plane, occupancy…