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In recent years, visual 3D Semantic Scene Completion (SSC) has emerged as a critical perception task for autonomous driving due to its ability to infer complete 3D scene layouts and semantics from single 2D images. However, in real-world…
Semantic scene completion (SSC) aims to complete a partial 3D scene and predict its semantics simultaneously. Most existing works adopt the voxel representations, thus suffering from the growth of memory and computation cost as the voxel…
With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…
3D Semantic Scene Completion (SSC) provides comprehensive scene geometry and semantics for autonomous driving perception, which is crucial for enabling accurate and reliable decision-making. However, existing SSC methods are limited to…
Camera-based Semantic Scene Completion (SSC) is gaining attentions in the 3D perception field. However, properties such as perspective and occlusion lead to the underestimation of the geometry in distant regions, posing a critical issue for…
Vision-based Semantic Scene Completion (SSC) has gained much attention due to its widespread applications in various 3D perception tasks. Existing sparse-to-dense approaches typically employ shared context-independent queries across various…
Monocular Semantic Scene Completion (MSSC) aims to predict the voxel-wise occupancy and semantic category from a single-view RGB image. Existing methods adopt a single-stage framework that aims to simultaneously achieve visible region…
3D semantic scene understanding is a fundamental challenge in computer vision. It enables mobile agents to autonomously plan and navigate arbitrary environments. SSC formalizes this challenge as jointly estimating dense geometry and…
Semantic scene completion (SSC) requires an accurate understanding of the geometric and semantic relationships between the objects in the 3D scene for reasoning the occluded objects. The popular SSC methods voxelize the 3D objects, allowing…
Semantic Scene Completion (SSC) aims to simultaneously predict the volumetric occupancy and semantic category of a 3D scene. It helps intelligent devices to understand and interact with the surrounding scenes. Due to the high-memory…
Camera-based 3D Semantic Scene Completion (SSC) is a critical task in autonomous driving systems, assessing voxel-level geometry and semantics for holistic scene perception. While existing voxel-based and plane-based SSC methods have…
Camera-based 3D semantic scene completion (SSC) provides dense geometric and semantic perception for autonomous driving. However, images provide limited information making the model susceptible to geometric ambiguity caused by occlusion and…
We present \emph{GaussianSSC}, a two-stage, grid-native and triplane-guided approach to semantic scene completion (SSC) that injects the benefits of Gaussians without replacing the voxel grid or maintaining a separate Gaussian set. We…
Monocular Semantic Occupancy Prediction aims to infer the complete 3D geometry and semantic information of scenes from only 2D images. It has garnered significant attention, particularly due to its potential to enhance the 3D perception of…
We introduce a new approach for multiscale 3Dsemantic scene completion from voxelized sparse 3D LiDAR scans. As opposed to the literature, we use a 2D UNet backbone with comprehensive multiscale skip connections to enhance feature flow,…
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…
MonoScene proposes a 3D Semantic Scene Completion (SSC) framework, where the dense geometry and semantics of a scene are inferred from a single monocular RGB image. Different from the SSC literature, relying on 2.5 or 3D input, we solve the…
LiDAR-based semantic perception tasks are critical yet challenging for autonomous driving. Due to the motion of objects and static/dynamic occlusion, temporal information plays an essential role in reinforcing perception by enhancing and…
Semantic Scene Completion (SSC) is a critical task in computer vision, that utilized in applications such as virtual reality (VR). SSC aims to construct detailed 3D models from partial views by transforming a single 2D image into a 3D…
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…