相关论文: UniOcc: Unifying Vision-Centric 3D Occupancy Predi…

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…

We present GDFusion, a temporal fusion method for vision-based 3D semantic occupancy prediction (VisionOcc). GDFusion opens up the underexplored aspects of temporal fusion within the VisionOcc framework, focusing on both temporal cues and…

3D reconstruction has been widely used in autonomous navigation fields of mobile robotics. However, the former research can only provide the basic geometry structure without the capability of open-world scene understanding, limiting…

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.…

Occupancy estimation has become a prominent task in 3D computer vision, particularly within the autonomous driving community. In this paper, we present a novel approach to occupancy estimation, termed GaussianFlowOcc, which is inspired by…

In this work, we consider the safety-oriented performance of 3D object detectors in autonomous driving contexts. Specifically, despite impressive results shown by the mass literature, developers often find it hard to ensure the safe…

3D occupancy prediction provides dense spatial understanding critical for safe autonomous driving. However, this task suffers from a severe class imbalance due to its volumetric representation, where safety-critical objects (bicycles,…

Recent progress in self- and weakly supervised occupancy estimation has largely relied on 2D projection or rendering-based supervision, which suffers from geometric inconsistencies and severe depth bleeding. We thus introduce ShelfOcc, a…

Reliance on vast annotations to achieve leading performance severely restricts the practicality of large-scale point cloud semantic segmentation. For the purpose of reducing data annotation costs, effective labeling schemes are developed…

Panoptic occupancy poses a novel challenge by aiming to integrate instance occupancy and semantic occupancy within a unified framework. However, there is still a lack of efficient solutions for panoptic occupancy. In this paper, we propose…

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…

Generating high-fidelity, controllable, and annotated training data is critical for autonomous driving. Existing methods typically generate a single data form directly from a coarse scene layout, which not only fails to output rich data…

3D semantic occupancy prediction is a cornerstone for embodied AI, enabling agents to perceive dense scene geometry and semantics incrementally from monocular video streams. However, current online frameworks face two critical bottlenecks:…

In this paper, we explore a novel point representation for 3D occupancy prediction from multi-view images, which is named Occupancy as Set of Points. Existing camera-based methods tend to exploit dense volume-based representation to predict…

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…

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…

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…

In recent years, autonomous driving has garnered escalating attention for its potential to relieve drivers' burdens and improve driving safety. Vision-based 3D occupancy prediction, which predicts the spatial occupancy status and semantics…

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…

Perceiving the world and forecasting its future state is a critical task for self-driving. Supervised approaches leverage annotated object labels to learn a model of the world -- traditionally with object detections and trajectory…