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

Understanding the 3D geometry and semantics of driving scenes is critical for safe autonomous driving. Recent advances in 3D occupancy prediction have improved scene representation but often suffer from visual inconsistencies, leading to…

Autonomous vehicles commonly rely on highly detailed birds-eye-view maps of their environment, which capture both static elements of the scene such as road layout as well as dynamic elements such as other cars and pedestrians. Generating…

Prediction of dynamic environment is crucial to safe navigation of an autonomous vehicle. Urban traffic scenes are particularly challenging to forecast due to complex interactions between various dynamic agents, such as vehicles and…

Fast, collision-free motion through unknown environments remains a challenging problem for robotic systems. In these situations, the robot's ability to reason about its future motion is often severely limited by sensor field of view (FOV).…

Scan data of urban environments often include representations of dynamic objects, such as vehicles, pedestrians, and so forth. However, when it comes to constructing a 3D point cloud map with sequential accumulations of the scan data, the…

Dynamic Occupancy Grid Mapping is a technique used to generate a local map of the environment containing both static and dynamic information. Typically, these maps are primarily generated using lidar measurements. However, with improvements…

This paper addresses the problem of learning instantaneous occupancy levels of dynamic environments and predicting future occupancy levels. Due to the complexity of most real-world environments, such as urban streets or crowded areas, the…

Scene completion and forecasting are two popular perception problems in research for mobile agents like autonomous vehicles. Existing approaches treat the two problems in isolation, resulting in a separate perception of the two aspects. In…

Autonomous vehicles need a complete map of their surroundings to plan and act. This has sparked research into the tasks of 3D occupancy prediction, 3D scene completion, and 3D panoptic scene completion, which predict a dense map of the ego…

Inferring the 3D structure from a single image, particularly in occluded regions, remains a fundamental yet unsolved challenge in vision-centric autonomous driving. Existing unsupervised approaches typically train a neural radiance field…

Motion prediction is a challenging task for autonomous vehicles due to uncertainty in the sensor data, the non-deterministic nature of future, and complex behavior of agents. In this paper, we tackle this problem by representing the scene…

We present a novel approach for enhancing robotic exploration by using generative occupancy mapping. We implement SceneSense, a diffusion model designed and trained for predicting 3D occupancy maps given partial observations. Our proposed…

Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem,…

3D scene understanding plays a vital role in vision-based autonomous driving. While most existing methods focus on 3D object detection, they have difficulty describing real-world objects of arbitrary shapes and infinite classes. Towards a…

Future 3D semantic occupancy forecasting and motion planning are central to autonomous driving, as they require models to reason about how surrounding scenes evolve and how the ego vehicle should act. Existing occupancy world models…

Occupancy prediction, aiming at predicting the occupancy status within voxelized 3D environment, is quickly gaining momentum within the autonomous driving community. Mainstream occupancy prediction works first discretize the 3D environment…

Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy…

There have been remarkable successes in computer vision with deep learning. While such breakthroughs show robust performance, there have still been many challenges in learning in-depth knowledge, like occlusion or predicting physical…

Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…

In this paper, we introduce a novel geometry-aware self-training framework for room layout estimation models on unseen scenes with unlabeled data. Our approach utilizes a ray-casting formulation to aggregate multiple estimates from…