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

3D object detection and occupancy prediction are critical tasks in autonomous driving, attracting significant attention. Despite the potential of recent vision-based methods, they encounter challenges under adverse conditions. Thus,…

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…

In this work, we introduce panoramic panoptic segmentation as the most holistic scene understanding both in terms of field of view and image level understanding for standard camera based input. A complete surrounding understanding provides…

In perception for automated vehicles, safety is critical not only for the driver but also for other agents in the scene, particularly vulnerable road users such as pedestrians and cyclists. Previous representation methods, such as Bird's…

The safe operation of autonomous vehicles (AVs) is highly dependent on their understanding of the surroundings. For this, the task of 3D semantic occupancy prediction divides the space around the sensors into voxels, and labels each voxel…

Three-dimensional object detection in panoramic imagery is crucial for comprehensive scene understanding, yet accurately mapping 2D features to 3D remains a significant challenge. Prevailing methods often project 2D features onto discrete…

The scene perception, understanding, and simulation are fundamental techniques for embodied-AI agents, while existing solutions are still prone to segmentation deficiency, dynamic objects' interference, sensor data sparsity, and…

We propose and study a task we name panoptic segmentation (PS). Panoptic segmentation unifies the typically distinct tasks of semantic segmentation (assign a class label to each pixel) and instance segmentation (detect and segment each…

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…

As the application scenarios of mobile robots are getting more complex and challenging, scene understanding becomes increasingly crucial. A mobile robot that is supposed to operate autonomously in indoor environments must have precise…

When exploring new areas, robotic systems generally exclusively plan and execute controls over geometry that has been directly measured. When entering space that was previously obstructed from view such as turning corners in hallways or…

Existing learning-based occupancy prediction methods rely on large-scale 3D annotations and generalize poorly across environments. We present FreeOcc, a training-free framework for open-vocabulary occupancy prediction from monocular or…

The field of autonomous driving is experiencing a surge of interest in world models, which aim to predict potential future scenarios based on historical observations. In this paper, we introduce DFIT-OccWorld, an efficient 3D occupancy…

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…

3D occupancy and scene flow offer a detailed and dynamic representation of 3D scene. Recognizing the sparsity and complexity of 3D space, previous vision-centric methods have employed implicit learning-based approaches to model spatial and…

3D semantic occupancy prediction is crucial for finely representing the surrounding environment, which is essential for ensuring the safety in autonomous driving. Existing fusion-based occupancy methods typically involve performing a…

This work tackles scene understanding for outdoor robotic navigation, solely relying on images captured by an on-board camera. Conventional visual scene understanding interprets the environment based on specific descriptive categories.…

3D semantic occupancy prediction requires accurate 2D-to-3D feature lifting, yet current methods restrict camera geometry to initial projections. Subsequent operations like offset learning, attention weighting, and cross-camera aggregation…

Unsupervised learning of object-centric representations in dynamic visual scenes is challenging. Unlike most previous approaches that learn to decompose 2D images, we present DynaVol, a 3D scene generative model that unifies geometric…

Real-time 3D object detection is crucial for autonomous cars. Achieving promising performance with high efficiency, voxel-based approaches have received considerable attention. However, previous methods model the input space with features…