相关论文: SSCNav: Confidence-Aware Semantic Scene Completion…

Understanding how humans leverage prior knowledge to navigate unseen environments while making exploratory decisions is essential for developing autonomous robots with similar abilities. In this work, we propose ForesightNav, a novel…

This work focuses on object goal visual navigation, aiming at finding the location of an object from a given class, where in each step the agent is provided with an egocentric RGB image of the scene. We propose to learn the agent's policy…

Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…

Trajectory prediction aims to predict the movement trend of the agents like pedestrians, bikers, vehicles. It is helpful to analyze and understand human activities in crowded spaces and widely applied in many areas such as surveillance…

Although learning-based vision-and-language navigation (VLN) agents can learn spatial knowledge implicitly from large-scale training data, zero-shot VLN agents lack this process, relying primarily on local observations for navigation, which…

This work focuses on the problem of visual target navigation, which is very important for autonomous robots as it is closely related to high-level tasks. To find a special object in unknown environments, classical and learning-based…

This work studies Semantic Scene Completion which aims to predict a 3D semantic segmentation of our surroundings, even though some areas are occluded. For this we construct a Bayesian Convolutional Neural Network (BCNN), which is not only…

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…

We introduce ScanComplete, a novel data-driven approach for taking an incomplete 3D scan of a scene as input and predicting a complete 3D model along with per-voxel semantic labels. The key contribution of our method is its ability to…

Training deep models for semantic scene completion (SSC) is challenging due to the sparse and incomplete input, a large quantity of objects of diverse scales as well as the inherent label noise for moving objects. To address the…

Safe navigation of autonomous agents in human centric environments requires the ability to understand and predict motion of neighboring pedestrians. However, predicting pedestrian intent is a complex problem. Pedestrian motion is governed…

Semantic Scene Completion (SSC) refers to the task of inferring the 3D semantic segmentation of a scene while simultaneously completing the 3D shapes. We propose PALNet, a novel hybrid network for SSC based on single depth. PALNet utilizes…

This work addresses a gap in semantic scene completion (SSC) data by creating a novel outdoor data set with accurate and complete dynamic scenes. Our data set is formed from randomly sampled views of the world at each time step, which…

Exploration of unknown environments is a fundamental problem in robotics and an essential component in numerous applications of autonomous systems. A major challenge in exploring unknown environments is that the robot has to plan with the…

Object goal navigation (ObjectNav) in unseen environments is a fundamental task for Embodied AI. Agents in existing works learn ObjectNav policies based on 2D maps, scene graphs, or image sequences. Considering this task happens in 3D…

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…

Semantic scene completion (SSC) is a challenging Computer Vision task with many practical applications, from robotics to assistive computing. Its goal is to infer the 3D geometry in a field of view of a scene and the semantic labels of…

The goal of the Semantic Scene Completion (SSC) task is to simultaneously predict a completed 3D voxel representation of volumetric occupancy and semantic labels of objects in the scene from a single-view observation. Since the…

Navigating to instance-level targets in complex environments is a challenging problem. Many existing zero-shot methods achieve strong performance by modeling the entire environment and leveraging large language models for scene…

Trajectory prediction is a critical functionality of autonomous systems that share environments with uncontrolled agents, one prominent example being self-driving vehicles. Currently, most prediction methods do not enforce scene…