相关论文: SurroundOcc: Multi-Camera 3D Occupancy Prediction …

LiDAR-based 3D occupancy prediction evolved rapidly alongside the emergence of large datasets. Nevertheless, the potential of existing diverse datasets remains underutilized as they kick in individually. Models trained on a specific dataset…

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…

3D semantic occupancy prediction is crucial for finely representing the surrounding environment, which is essential for ensuring the safety in autonomous driving. Existing fusion-based occupancy methods typically involve performing a…

3D occupancy perception technology aims to observe and understand dense 3D environments for autonomous vehicles. Owing to its comprehensive perception capability, this technology is emerging as a trend in autonomous driving perception…

3D semantic occupancy prediction in the past was considered to require precise geometric relationships in order to enable effective training. However, in complex indoor environments, the large-scale and widespread collection of data, along…

Accurate 3D perception is essential for autonomous driving. Traditional methods often struggle with geometric ambiguity due to a lack of geometric prior. To address these challenges, we use omnidirectional depth estimation to introduce…

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…

3D semantic occupancy prediction, which seeks to provide accurate and comprehensive representations of environment scenes, is important to autonomous driving systems. For autonomous cars equipped with multi-camera and LiDAR, it is critical…

The safe operation of autonomous vehicles (AVs) is highly dependent on their understanding of the surroundings. For this, the task of 3D semantic occupancy prediction divides the space around the sensors into voxels, and labels each voxel…

Understanding world dynamics is crucial for planning in autonomous driving. Recent methods attempt to achieve this by learning a 3D occupancy world model that forecasts future surrounding scenes based on current observation. However, 3D…

We address an advanced challenge of predicting pedestrian occupancy as an extension of multi-view pedestrian detection in urban traffic. To support this, we have created a new synthetic dataset called MVP-Occ, designed for dense pedestrian…

3D semantic occupancy prediction offers an intuitive and efficient scene understanding and has attracted significant interest in autonomous driving perception. Existing approaches either rely on full supervision, which demands costly…

Obtaining high-quality 3D semantic occupancy from raw sensor data remains an essential yet challenging task, often requiring extensive manual labeling. In this work, we propose AutoOcc, a vision-centric automated pipeline for open-ended…

Camera-based 3D occupancy prediction has recently garnered increasing attention in outdoor driving scenes. However, research in indoor scenes remains relatively unexplored. The core differences in indoor scenes lie in the complexity of…

Given the capability of mitigating the long-tail deficiencies and intricate-shaped absence prevalent in 3D object detection, occupancy prediction has become a pivotal component in autonomous driving systems. However, the procession of…

3D semantic occupancy prediction is a crucial task in visual perception, as it requires the simultaneous comprehension of both scene geometry and semantics. It plays a crucial role in understanding 3D scenes and has great potential for…

Vision-based 3D occupancy prediction is significantly challenged by the inherent limitations of monocular vision in depth estimation. This paper introduces CVT-Occ, a novel approach that leverages temporal fusion through the geometric…

3D semantic occupancy prediction is a pivotal task in autonomous driving, providing a dense and fine-grained understanding of the surrounding environment, yet single-modality methods face trade-offs between camera semantics and LiDAR…

Existing learning-based occupancy prediction methods rely on large-scale 3D annotations and generalize poorly across environments. We present FreeOcc, a training-free framework for open-vocabulary occupancy prediction from monocular or…

In this technical report, we present our solution for the Vision-Centric 3D Occupancy and Flow Prediction track in the nuScenes Open-Occ Dataset Challenge at CVPR 2024. Our innovative approach involves a dual-stage framework that enhances…