相关论文: Scene as Occupancy

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…

4D occupancy forecasting is one of the important techniques for autonomous driving, which can avoid potential risk in the complex traffic scenes. Scene flow is a crucial element to describe 4D occupancy map tendency. However, an accurate…

Autonomous driving has the potential to significantly enhance productivity and provide numerous societal benefits. Ensuring robustness in these safety-critical systems is essential, particularly when vehicles must navigate adverse weather…

Open-vocabulary scene understanding is crucial for robotic applications, enabling robots to comprehend complex 3D environmental contexts and supporting various downstream tasks such as navigation and manipulation. However, existing methods…

Human vision is capable of transforming two-dimensional observations into an egocentric three-dimensional scene understanding, which underpins the ability to translate complex scenes and exhibit adaptive behaviors. This capability, however,…

Monocular 3D occupancy prediction, aiming to predict the occupancy and semantics within interesting regions of 3D scenes from only 2D images, has garnered increasing attention recently for its vital role in 3D scene understanding.…

Generating high-fidelity and controllable synthetic data is critical for advancing end-to-end autonomous driving, particularly for addressing the long tail of rare safety-critical scenarios. Existing occupancy-guided methods typically rely…

3D scene flow estimation is a vital tool in perceiving our environment given depth or range sensors. Unlike optical flow, the data is usually sparse and in most cases partially occluded in between two temporal samplings. Here we propose a…

Understanding how the surrounding environment changes is crucial for performing downstream tasks safely and reliably in autonomous driving applications. Recent occupancy estimation techniques using only camera images as input can provide…

Camera-based occupancy prediction is a mainstream approach for 3D perception in autonomous driving, aiming to infer complete 3D scene geometry and semantics from 2D images. Almost existing methods focus on improving performance through…

In this report, we present the 4th place solution for CVPR 2023 3D occupancy prediction challenge. We propose a simple method called Multi-Scale Occ for occupancy prediction based on lift-splat-shoot framework, which introduces multi-scale…

Traffic scene understanding is essential for enabling autonomous vehicles to accurately perceive and interpret their environment, thereby ensuring safe navigation. This paper presents a novel framework that transforms a single frontal-view…

Semantic occupancy prediction aims to infer dense geometry and semantics of surroundings for an autonomous agent to operate safely in the 3D environment. Existing occupancy prediction methods are almost entirely trained on human-annotated…

Visual-based 3D semantic occupancy perception is a key technology for robotics, including autonomous vehicles, offering an enhanced understanding of the environment by 3D. This approach, however, typically requires more computational…

Understanding dynamic 3D environments in a spatially continuous and temporally consistent manner is fundamental for robotics and autonomous driving. While recent advances in occupancy prediction provide a unified representation of scene…

Large Language Models (LLMs) have made substantial advancements in the field of robotic and autonomous driving. This study presents the first Occupancy-based Large Language Model (Occ-LLM), which represents a pioneering effort to integrate…

The 3D occupancy prediction task has witnessed remarkable progress in recent years, playing a crucial role in vision-based autonomous driving systems. While traditional methods are limited to fixed semantic categories, recent approaches…

Semantic Scene Completion (SSC) aims to simultaneously predict the volumetric occupancy and semantic category of a 3D scene. It helps intelligent devices to understand and interact with the surrounding scenes. Due to the high-memory…

Humans can naturally identify and mentally complete occluded objects in cluttered environments. However, imparting similar cognitive ability to robotics remains challenging even with advanced reconstruction techniques, which models scenes…

This technical report summarizes the winning solution for the 3D Occupancy Prediction Challenge, which is held in conjunction with the CVPR 2023 Workshop on End-to-End Autonomous Driving and CVPR 23 Workshop on Vision-Centric Autonomous…