相关论文: OVO: Open-Vocabulary Occupancy

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…

3D occupancy prediction has recently emerged as a new paradigm for holistic 3D scene understanding and provides valuable information for downstream planning in autonomous driving. Most existing methods, however, are computationally…

Perceiving the world as 3D occupancy supports embodied agents to avoid collision with any types of obstacle. While open-vocabulary image understanding has prospered recently, how to bind the predicted 3D occupancy grids with open-world…

We present the Habitat-Matterport 3D Open Vocabulary Object Goal Navigation dataset (HM3D-OVON), a large-scale benchmark that broadens the scope and semantic range of prior Object Goal Navigation (ObjectNav) benchmarks. Leveraging the…

Robotic perception requires the modeling of both 3D geometry and semantics. Existing methods typically focus on estimating 3D bounding boxes, neglecting finer geometric details and struggling to handle general, out-of-vocabulary objects. 3D…

In the domain of the U.S. Army modeling and simulation, the availability of high quality annotated 3D data is pivotal to creating virtual environments for training and simulations. Traditional methodologies for 3D semantic and instance…

3D semantic occupancy prediction has emerged as a critical perception task for autonomous driving due to its ability to offer voxel-level semantic and geometric understanding of the environment. However, such a refined representation for…

3D semantic occupancy prediction networks have demonstrated remarkable capabilities in reconstructing the geometric and semantic structure of 3D scenes, providing crucial information for robot navigation and autonomous driving systems.…

Dense 3D semantic occupancy perception is critical for mobile robots operating in pedestrian-rich environments, yet it remains underexplored compared to its application in autonomous driving. To address this gap, we present MobileOcc, a…

For autonomous vehicles to proactively plan safe trajectories and make informed decisions, they must be able to predict the future occupancy states of the local environment. However, common issues with occupancy prediction include…

The 3D occupancy estimation task has become an important challenge in the area of vision-based autonomous driving recently. However, most existing camera-based methods rely on costly 3D voxel labels or LiDAR scans for training, limiting…

3D semantic occupancy and flow prediction are fundamental to spatiotemporal scene understanding. This paper proposes a vision-based framework with three targeted improvements. First, we introduce an occlusion-aware adaptive lifting…

Occupancy prediction plays a pivotal role in autonomous driving (AD) due to the fine-grained geometric perception and general object recognition capabilities. However, existing methods often incur high computational costs, which contradicts…

This paper presents an Open-Vocabulary Online 3D semantic mapping pipeline, that we denote by its acronym OVO. Given a sequence of posed RGB-D frames, we detect and track 3D segments, which we describe using CLIP vectors. These are computed…

Developing 3D semantic occupancy prediction models often relies on dense 3D annotations for supervised learning, a process that is both labor and resource-intensive, underscoring the need for label-efficient or even label-free approaches.…

3D object detection plays a crucial role in autonomous systems, yet existing methods are limited by closed-set assumptions and struggle to recognize novel objects and their attributes in real-world scenarios. We propose OVODA, a novel…

Vision-language modeling has enabled open-vocabulary tasks where predictions can be queried using any text prompt in a zero-shot manner. Existing open-vocabulary tasks focus on object classes, whereas research on object attributes is…

Event cameras, known for low-latency operation and superior performance in challenging lighting conditions, are suitable for sensitive computer vision tasks such as semantic segmentation in autonomous driving. However, challenges arise due…

3D occupancy becomes a promising perception representation for autonomous driving to model the surrounding environment at a fine-grained scale. However, it remains challenging to efficiently aggregate 3D occupancy over time across multiple…

Autonomous driving perception faces significant challenges due to occlusions and incomplete scene data in the environment. To overcome these issues, the task of semantic occupancy prediction (SOP) is proposed, which aims to jointly infer…