相关论文: Differentiable Raycasting for Self-supervised Occu…

Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work…

Understanding how the 3D scene evolves is vital for making decisions in autonomous driving. Most existing methods achieve this by predicting the movements of object boxes, which cannot capture more fine-grained scene information. In this…

Modeling and understanding the environment is an essential task for autonomous driving. In addition to the detection of objects, in complex traffic scenarios the motion of other road participants is of special interest. Therefore, we…

Self-supervised pre-training based on next-token prediction has enabled large language models to capture the underlying structure of text, and has led to unprecedented performance on a large array of tasks when applied at scale. Similarly,…

In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…

State-of-the-art navigation methods leverage a spatial memory to generalize to new environments, but their occupancy maps are limited to capturing the geometric structures directly observed by the agent. We propose occupancy anticipation,…

Occupancy prediction reconstructs 3D structures of surrounding environments. It provides detailed information for autonomous driving planning and navigation. However, most existing methods heavily rely on the LiDAR point clouds to generate…

A self-driving vehicle (SDV) must be able to perceive its surroundings and predict the future behavior of other traffic participants. Existing works either perform object detection followed by trajectory forecasting of the detected objects,…

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…

Autonomous driving, as an agent operating in the physical world, requires the fundamental capability to build \textit{world models} that capture how the environment evolves spatiotemporally in order to support long-term planning. At the…

Autonomous driving requires forecasting both geometry and semantics over time to effectively reason about future environment states. Existing vision-based occupancy forecasting methods focus on motion-related categories such as static and…

Inferring the drivable area in a scene is crucial for ensuring a vehicle avoids obstacles and facilitates safe autonomous driving. In this paper, we concentrate on detecting the instantaneous free space surrounding the ego vehicle,…

Semantic occupancy has recently gained significant traction as a prominent 3D scene representation. However, most existing methods rely on large and costly datasets with fine-grained 3D voxel labels for training, which limits their…

The field of autonomous driving is experiencing a surge of interest in world models, which aim to predict potential future scenarios based on historical observations. In this paper, we introduce DFIT-OccWorld, an efficient 3D occupancy…

Predicting how the world can evolve in the future is crucial for motion planning in autonomous systems. Classical methods are limited because they rely on costly human annotations in the form of semantic class labels, bounding boxes, and…

3D occupancy prediction is an important task for the robustness of vision-centric autonomous driving, which aims to predict whether each point is occupied in the surrounding 3D space. Existing methods usually require 3D occupancy labels to…

We introduce a Generalizable Neural Radiance Field approach for predicting 3D workspace occupancy from egocentric robot observations. Unlike prior methods operating in camera-centric coordinates, our model constructs occupancy…

Automated driving fundamentally requires knowledge about the surrounding geometry of the scene. Modern approaches use only captured images to predict occupancy maps that represent the geometry. Training these approaches requires accurate…

We propose Occupancy Flow Fields, a new representation for motion forecasting of multiple agents, an important task in autonomous driving. Our representation is a spatio-temporal grid with each grid cell containing both the probability of…