相关论文: RenderOcc: Vision-Centric 3D Occupancy Prediction …

Occlusion presents a significant challenge for safety-critical applications such as autonomous driving. Collaborative perception has recently attracted a large research interest thanks to the ability to enhance the perception of autonomous…

We hypothesize that an agent that can look around in static scenes can learn rich visual representations applicable to 3D object tracking in complex dynamic scenes. We are motivated in this pursuit by the fact that the physical world itself…

This manuscript presents a series of my selected contributions to the topic of label-efficient learning in computer vision and remote sensing. The central focus of this research is to develop and adapt methods that can learn effectively…

We present SOccDPT, a memory-efficient approach for 3D semantic occupancy prediction from monocular image input using dense prediction transformers. To address the limitations of existing methods trained on structured traffic datasets, we…

Predicting variations in complex traffic environments is crucial for the safety of autonomous driving. Recent advancements in occupancy forecasting have enabled forecasting future 3D occupied status in driving environments by observing…

Collecting and labeling the registered 3D point cloud is costly. As a result, 3D resources for training are typically limited in quantity compared to the 2D images counterpart. In this work, we deal with the data scarcity challenge of 3D…

The autonomous driving community has shown significant interest in 3D occupancy prediction, driven by its exceptional geometric perception and general object recognition capabilities. To achieve this, current works try to construct a…

Safety-critical applications such as autonomous driving require robust 3D environment perception algorithms capable of handling diverse and ambiguous surroundings. The predictive performance of classification models is heavily influenced by…

Multi-label image recognition in the low-label regime is a task of great challenge and practical significance. Previous works have focused on learning the alignment between textual and visual spaces to compensate for limited image labels,…

State-of-the-art 3D object detectors are often trained on massive labeled datasets. However, annotating 3D bounding boxes remains prohibitively expensive and time-consuming, particularly for LiDAR. Instead, recent works demonstrate that…

Camera-based 3D semantic scene completion (SSC) plays a crucial role in autonomous driving, enabling voxelized 3D scene understanding for effective scene perception and decision-making. Existing SSC methods have shown efficacy in improving…

Recently, implicit neural representations have gained popularity for learning-based 3D reconstruction. While demonstrating promising results, most implicit approaches are limited to comparably simple geometry of single objects and do not…

Current successful methods of 3D scene perception rely on the large-scale annotated point cloud, which is tedious and expensive to acquire. In this paper, we propose Model2Scene, a novel paradigm that learns free 3D scene representation…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

Closed-set 3D perception models trained on only a pre-defined set of object categories can be inadequate for safety critical applications such as autonomous driving where new object types can be encountered after deployment. In this paper,…

Probabilistic 3D map has been applied to object segmentation with multiple camera viewpoints, however, conventional methods lack of real-time efficiency and functionality of multilabel object mapping. In this paper, we propose a method to…

Occupancy prediction, aiming at predicting the occupancy status within voxelized 3D environment, is quickly gaining momentum within the autonomous driving community. Mainstream occupancy prediction works first discretize the 3D environment…

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.…

Occupancy Network has recently attracted much attention in autonomous driving. Instead of monocular 3D detection and recent bird's eye view(BEV) models predicting 3D bounding box of obstacles, Occupancy Network predicts the category of…

Camera-based 3D occupancy prediction has recently garnered increasing attention in outdoor driving scenes. However, research in indoor scenes remains relatively unexplored. The core differences in indoor scenes lie in the complexity of…