相关论文: Real-time Semantic 3D Dense Occupancy Mapping with…

Long-term situation prediction plays a crucial role in the development of intelligent vehicles. A major challenge still to overcome is the prediction of complex downtown scenarios with multiple road users, e.g., pedestrians, bikes, and…

This paper presents a sampling-based motion planning framework that leverages the geometry of obstacles in a workspace as well as prior experiences from motion planning problems. Previous studies have demonstrated the benefits of utilizing…

High-fidelity 3D occupancy mapping is essential for many edge-based applications (such as AR/VR and autonomous navigation) but is limited by power constraints. We present Gleanmer, a system on chip (SoC) with an accelerator for GMMap, a 3D…

3D semantic scene graphs are a powerful holistic representation as they describe the individual objects and depict the relation between them. They are compact high-level graphs that enable many tasks requiring scene reasoning. In real-world…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

Deep learning based localization and mapping has recently attracted significant attention. Instead of creating hand-designed algorithms through exploitation of physical models or geometric theories, deep learning based solutions provide an…

Accurate prediction of driving scenes is essential for road safety and autonomous driving. Occupancy Grid Maps (OGMs) are commonly employed for scene prediction due to their structured spatial representation, flexibility across sensor…

This paper focuses on real-time occupancy mapping and collision checking onboard an autonomous robot navigating in an unknown environment. We propose a new map representation, in which occupied and free space are separated by the decision…

The 3D occupancy prediction task has witnessed remarkable progress in recent years, playing a crucial role in vision-based autonomous driving systems. While traditional methods are limited to fixed semantic categories, recent approaches…

This paper introduces InverseMatrixVT3D, an efficient method for transforming multi-view image features into 3D feature volumes for 3D semantic occupancy prediction. Existing methods for constructing 3D volumes often rely on depth…

Despite the demonstrated efficiency and performance of sparse query-based representations for perception, state-of-the-art 3D occupancy prediction methods still rely on voxel-based or dense Gaussian-based 3D representations. However, dense…

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…

Autonomous machines (e.g., vehicles, mobile robots, drones) require sophisticated 3D mapping to perceive the dynamic environment. However, maintaining a real-time 3D map is expensive both in terms of compute and memory requirements,…

In the realm of autonomous vehicle perception, comprehending 3D scenes is paramount for tasks such as planning and mapping. Camera-based 3D Semantic Occupancy Prediction (OCC) aims to infer scene geometry and semantics from limited…

The published literature on topology optimization has exploded over the last two decades to include methods that use shape and topological derivatives or evolutionary algorithms formulated on various geometric representations and…

3D occupancy and scene flow offer a detailed and dynamic representation of 3D scene. Recognizing the sparsity and complexity of 3D space, previous vision-centric methods have employed implicit learning-based approaches to model spatial and…

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…

Learning-based 3D reconstruction using implicit neural representations has shown promising progress not only at the object level but also in more complicated scenes. In this paper, we propose Dynamic Plane Convolutional Occupancy Networks,…

Autonomous driving requires robust perception across diverse environmental conditions, yet 3D semantic occupancy prediction remains challenging under adverse weather and lighting. In this work, we present the first study combining 4D radar…

For applications such as autonomous driving, self-localization/camera pose estimation and scene parsing are crucial technologies. In this paper, we propose a unified framework to tackle these two problems simultaneously. The uniqueness of…