相关论文: OCC-VO: Dense Mapping via 3D Occupancy-Based Visua…

We propose a self-supervised learning framework that uses unlabeled monocular video sequences to generate large-scale supervision for training a Visual Odometry (VO) frontend, a network which computes pointwise data associations across…

Inferring the 3D structure of a scene from a single image is an ill-posed and challenging problem in the field of vision-centric autonomous driving. Existing methods usually employ neural radiance fields to produce voxelized 3D occupancy,…

We propose Deep Patch Visual Odometry (DPVO), a new deep learning system for monocular Visual Odometry (VO). DPVO uses a novel recurrent network architecture designed for tracking image patches across time. Recent approaches to VO have…

Incremental open-vocabulary 3D instance-semantic mapping is essential for autonomous agents operating in complex everyday environments. However, it remains challenging due to the need for robust instance segmentation, real-time processing,…

While multi-modal 3D semantic occupancy prediction typically enhances robustness by fusing camera and LiDAR inputs, its effectiveness is fundamentally constrained by environmental variability. Specifically, camera sensors suffer from severe…

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…

Efficient and high-accuracy 3D occupancy prediction is vital for the performance of autonomous driving systems. However, existing methods struggle to balance precision and efficiency: high-accuracy approaches are often hindered by heavy…

3D occupancy, an advanced perception technology for driving scenarios, represents the entire scene without distinguishing between foreground and background by quantifying the physical space into a grid map. The widely adopted…

Pose estimation and map building are central ingredients of autonomous robots and typically rely on the registration of sensor data. In this paper, we investigate a new metric for registering images that builds upon on the idea of the…

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…

Visual Odometry (VO) and Visual SLAM (V-SLAM) systems often struggle in low-light and dark environments due to the lack of robust visual features. In this paper, we propose a novel active illumination framework to enhance the performance of…

Occupancy is crucial for autonomous driving, providing essential geometric priors for perception and planning. However, existing methods predominantly rely on LiDAR-based occupancy annotations, which limits scalability and prevents…

Driving scene generation is a critical domain for autonomous driving, enabling downstream applications, including perception and planning evaluation. Occupancy-centric methods have recently achieved state-of-the-art results by offering…

Vision-based perception for autonomous driving requires an explicit modeling of a 3D space, where 2D latent representations are mapped and subsequent 3D operators are applied. However, operating on dense latent spaces introduces a cubic…

Estimating 3D occupancy and motion at the vehicle's surroundings is essential for autonomous driving, enabling situational awareness in dynamic environments. Existing approaches jointly learn geometry and motion but rely on expensive 3D…

Introducing object-level semantic information into simultaneous localization and mapping (SLAM) system is critical. It not only improves the performance but also enables tasks specified in terms of meaningful objects. This work presents…

PointGoal navigation in indoor environment is a fundamental task for personal robots to navigate to a specified point. Recent studies solved this PointGoal navigation task with near-perfect success rate in photo-realistically simulated…

The task of occupancy forecasting (OCF) involves utilizing past and present perception data to predict future occupancy states of autonomous vehicle surrounding environments, which is critical for downstream tasks such as obstacle avoidance…

Hybrid pipelines that combine deep learning with classical optimization have established themselves as the dominant approach to visual odometry (VO). By integrating neural network predictions with bundle adjustment, these models estimate…

Monocular visual odometry (VO) is a fundamental computer vision problem with applications in autonomous navigation, augmented reality and more. While deep learning-based methods have recently shown superior accuracy compared to traditional…