相关论文: MonoScene: Monocular 3D Semantic Scene Completion

Self-supervised monocular depth estimation is a significant task for low-cost and efficient 3D scene perception and measurement in endoscopy. However, the variety of illumination conditions and scene features is still the primary challenges…

The precise reconstruction of 3D objects from a single RGB image in complex scenes presents a critical challenge in virtual reality, autonomous driving, and robotics. Existing neural implicit 3D representation methods face significant…

Monocular simultaneous localization and mapping (SLAM) is emerging in advanced driver assistance systems and autonomous driving, because a single camera is cheap and easy to install. Conventional monocular SLAM has two major challenges…

We present a novel diffusion-based approach for coherent 3D scene reconstruction from a single RGB image. Our method utilizes an image-conditioned 3D scene diffusion model to simultaneously denoise the 3D poses and geometries of all objects…

This paper presents an end-to-end 3D convolutional network named attention-based multi-modal fusion network (AMFNet) for the semantic scene completion (SSC) task of inferring the occupancy and semantic labels of a volumetric 3D scene from…

We present a novel approach designed to address the complexities posed by challenging, out-of-distribution data in the single-image depth estimation task. Starting with images that facilitate depth prediction due to the absence of…

The reconstruction of three-dimensional dynamic scenes is a well-established yet challenging task within the domain of computer vision. In this paper, we propose a novel approach that combines the domains of 3D geometry reconstruction and…

Perception systems play a crucial role in autonomous driving, incorporating multiple sensors and corresponding computer vision algorithms. 3D LiDAR sensors are widely used to capture sparse point clouds of the vehicle's surroundings.…

In this work, we pioneer Semantic Flow, a neural semantic representation of dynamic scenes from monocular videos. In contrast to previous NeRF methods that reconstruct dynamic scenes from the colors and volume densities of individual…

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,…

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…

In this paper, we propose a monocular 3D object detection framework in the domain of autonomous driving. Unlike previous image-based methods which focus on RGB feature extracted from 2D images, our method solves this problem in the…

3D object detection is a fundamental and challenging task for 3D scene understanding, and the monocular-based methods can serve as an economical alternative to the stereo-based or LiDAR-based methods. However, accurately detecting objects…

Vision-based 3D semantic scene completion (SSC) describes autonomous driving scenes through 3D volume representations. However, the occlusion of invisible voxels by scene surfaces poses challenges to current SSC methods in hallucinating…

Monocular 3D occupancy prediction, aiming to predict the occupancy and semantics within interesting regions of 3D scenes from only 2D images, has garnered increasing attention recently for its vital role in 3D scene understanding.…

Accurately reconstructing dense and semantically annotated 3D meshes from monocular images remains a challenging task due to the lack of geometry guidance and imperfect view-dependent 2D priors. Though we have witnessed recent advancements…

Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…

`3D Semantic Scene Completion (SSC) has emerged as a nascent and pivotal undertaking in autonomous driving, aiming to predict voxel occupancy within volumetric scenes. However, prevailing methodologies primarily focus on voxel-wise feature…

Semantic segmentation and 3D reconstruction are two fundamental tasks in remote sensing, typically treated as separate or loosely coupled tasks. Despite attempts to integrate them into a unified network, the constraints between the two…

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…