相关论文: Bridging Stereo Geometry and BEV Representation wi…

360 cameras capture the entire surrounding environment with a large FoV, exhibiting comprehensive visual information to directly infer the 3D structures, e.g., depth and surface normal, and semantic information simultaneously. Existing…

Depth estimation is a critical technology in autonomous driving, and multi-camera systems are often used to achieve a 360$^\circ$ perception. These 360$^\circ$ camera sets often have limited or low-quality overlap regions, making multi-view…

The aim of this work is to provide a semantic scene synthesis from a single depth image. This is used in assistive aid systems for visually impaired and blind people that allow them to understand their surroundings by the touch sense. The…

In this study, we address the multimodal task of stereo sound event localization and detection with source distance estimation (3D SELD) in regular video content. 3D SELD is a complex task that combines temporal event classification with…

Cooperative perception is critical for autonomous driving, overcoming the inherent limitations of a single vehicle, such as occlusions and constrained fields-of-view. However, current approaches sharing dense Bird's-Eye-View (BEV) features…

Generating unbounded 3D scenes is crucial for large-scale scene understanding and simulation. Urban scenes, unlike natural landscapes, consist of various complex man-made objects and structures such as roads, traffic signs, vehicles, and…

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…

Stereo matching and flow estimation are two essential tasks for scene understanding, spatially in 3D and temporally in motion. Existing approaches have been focused on the unsupervised setting due to the limited resource to obtain the…

We present Bridging Geometric and Semantic (BriGeS), an effective method that fuses geometric and semantic information within foundation models to enhance Monocular Depth Estimation (MDE). Central to BriGeS is the Bridging Gate, which…

Collaborative perception aims to extend sensing coverage and improve perception accuracy by sharing information among multiple agents. However, due to differences in viewpoints and spatial positions, agents often acquire heterogeneous…

In the field of autonomous driving, accurate and comprehensive perception of the 3D environment is crucial. Bird's Eye View (BEV) based methods have emerged as a promising solution for 3D object detection using multi-view images as input.…

Satellite imagery differs fundamentally from natural images: its aerial viewpoint, very high resolution, diverse scale variations, and abundance of small objects demand both region-level spatial reasoning and holistic scene understanding.…

Constructing high-definition (HD) maps from sensory input requires accurately mapping the road elements in image space to the Bird's Eye View (BEV) space. The precision of this mapping directly impacts the quality of the final vectorized HD…

Generating learning-friendly representations for points in a 2D space is a fundamental and long-standing problem in machine learning. Recently, multi-scale encoding schemes (such as Space2Vec) were proposed to directly encode any point in…

In the landscape of autonomous driving, Bird's-Eye-View (BEV) representation has recently garnered substantial academic attention, serving as a transformative framework for the fusion of multi-modal sensor inputs. This BEV paradigm…

Semantic segmentation in bird's eye view (BEV) is an important task for autonomous driving. Though this task has attracted a large amount of research efforts, it is still challenging to flexibly cope with arbitrary (single or multiple)…

We propose a novel model for 3D semantic completion from a single depth image, based on a single encoder and three separate generators used to reconstruct different geometric and semantic representations of the original and completed scene,…

Learning powerful representations in bird's-eye-view (BEV) for perception tasks is trending and drawing extensive attention both from industry and academia. Conventional approaches for most autonomous driving algorithms perform detection,…

Vision-based Semantic Scene Completion (SSC) has gained much attention due to its widespread applications in various 3D perception tasks. Existing sparse-to-dense approaches typically employ shared context-independent queries across various…

We study a new problem of semantic complete scene forecasting (SCSF) in this work. Given a 4D dynamic point cloud sequence, our goal is to forecast the complete scene corresponding to the future next frame along with its semantic labels. To…