相关论文: PanoOcc: Unified Occupancy Representation for Came…

Robust 3D occupancy prediction is essential for autonomous driving, particularly under adverse weather conditions where traditional vision-only systems struggle. While the fusion of surround-view 4D radar and cameras offers a promising…

Performing single image holistic understanding and 3D reconstruction is a central task in computer vision. This paper presents an integrated system that performs dense scene labeling, object detection, instance segmentation, depth…

3D occupancy prediction provides a comprehensive description of the surrounding scenes and has become an essential task for 3D perception. Most existing methods focus on offline perception from one or a few views and cannot be applied to…

Semantic segmentation in autonomous driving has been undergoing an evolution from sparse point segmentation to dense voxel segmentation, where the objective is to predict the semantic occupancy of each voxel in the concerned 3D space. The…

Understanding 3D scenes semantically and spatially is crucial for the safe navigation of robots and autonomous vehicles, aiding obstacle avoidance and accurate trajectory planning. Camera-based 3D semantic occupancy prediction, which infers…

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…

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…

3D semantic occupancy prediction is one of the crucial tasks of autonomous driving. It enables precise and safe interpretation and navigation in complex environments. Reliable predictions rely on effective sensor fusion, as different…

3D occupancy prediction plays a pivotal role in the realm of autonomous driving, as it provides a comprehensive understanding of the driving environment. Most existing methods construct dense scene representations for occupancy prediction,…

3D occupancy prediction has become a key perception task in autonomous driving, as it enables comprehensive scene understanding. Recent methods enhance this understanding by incorporating spatiotemporal information through multi-frame…

Panoptic occupancy prediction aims to jointly infer voxel-wise semantics and instance identities within a unified 3D scene representation. Nevertheless, progress in this field remains constrained by the absence of high-quality 3D mesh…

We introduce UniOcc, a comprehensive, unified benchmark and toolkit for occupancy forecasting (i.e., predicting future occupancies based on historical information) and occupancy prediction (i.e., predicting current-frame occupancy from…

In autonomous driving, 3D occupancy prediction outputs voxel-wise status and semantic labels for more comprehensive understandings of 3D scenes compared with traditional perception tasks, such as 3D object detection and bird's-eye view…

3D occupancy perception holds a pivotal role in recent vision-centric autonomous driving systems by converting surround-view images into integrated geometric and semantic representations within dense 3D grids. Nevertheless, current models…

Crucial for autonomous exploration, online 3D occupancy prediction and mapping incrementally constructs dense spatial representations on the fly. However, recent Gaussian-centric methods struggle with structural boundary fidelity and rely…

3D semantic occupancy prediction is an essential part of autonomous driving, focusing on capturing the geometric details of scenes. Off-road environments are rich in geometric information, therefore it is suitable for 3D semantic occupancy…

In the realm of autonomous vehicle perception, comprehending 3D scenes is paramount for tasks such as planning and mapping. Camera-based 3D Semantic Occupancy Prediction (OCC) aims to infer scene geometry and semantics from limited…

Autonomous driving requires forecasting both geometry and semantics over time to effectively reason about future environment states. Existing vision-based occupancy forecasting methods focus on motion-related categories such as static and…

Camera-based 3D semantic occupancy prediction offers an efficient and cost-effective solution for perceiving surrounding scenes in autonomous driving. However, existing works rely on explicit occupancy state inference, leading to numerous…

As a novel 3D scene representation, semantic occupancy has gained much attention in autonomous driving. However, existing occupancy prediction methods mainly focus on designing better occupancy representations, such as tri-perspective view…