相关论文: Cam4DOcc: Benchmark for Camera-Only 4D Occupancy F…

The 3D occupancy prediction task has witnessed remarkable progress in recent years, playing a crucial role in vision-based autonomous driving systems. While traditional methods are limited to fixed semantic categories, recent approaches…

The prediction of 3D semantic occupancy enables autonomous vehicles (AVs) to perceive the fine-grained geometric and semantic scene structure for safe navigation and decision-making. Existing methods mainly rely on either voxel-based…

Learning contextual and spatial environmental representations enhances autonomous vehicle's hazard anticipation and decision-making in complex scenarios. Recent perception systems enhance spatial understanding with sensor fusion but often…

Physics-aware driving world model is essential for drive planning, out-of-distribution data synthesis, and closed-loop evaluation. However, existing methods often rely on a single diffusion model to directly map driving actions to videos,…

We present a novel dataset covering seasonal and challenging perceptual conditions for autonomous driving. Among others, it enables research on visual odometry, global place recognition, and map-based re-localization tracking. The data was…

Existing solutions for 3D semantic occupancy prediction typically treat the task as a one-shot 3D voxel-wise segmentation perception problem. These discriminative methods focus on learning the mapping between the inputs and occupancy map in…

Closed-loop simulation is essential for advancing end-to-end autonomous driving systems. Contemporary sensor simulation methods, such as NeRF and 3DGS, rely predominantly on conditions closely aligned with training data distributions, which…

The synthesis of spatiotemporally coherent 4D content presents fundamental challenges in computer vision, requiring simultaneous modeling of high-fidelity spatial representations and physically plausible temporal dynamics. Current…

Autonomous trucking is a promising technology that can greatly impact modern logistics and the environment. Ensuring its safety on public roads is one of the main duties that requires an accurate perception of the environment. To achieve…

Multimodal 3D occupancy prediction has garnered significant attention for its potential in autonomous driving. However, most existing approaches are single-modality: camera-based methods lack depth information, while LiDAR-based methods…

The low-light conditions are challenging to the vision-centric perception systems for autonomous driving in the dark environment. In this paper, we propose a new benchmark dataset (named DarkDriving) to investigate the low-light enhancement…

This work introduces a simulator-based benchmark for visual localization in the autonomous navigation context. The dynamic benchmark enables investigation of how variables such as the time of day, weather, and camera perspective affect the…

Occupancy World Models (OWMs) aim to predict future scenes via 3D voxelized representations of the environment to support intelligent motion planning. Existing approaches typically generate full future occupancy states from VAE-style latent…

In this work, we tackle the problem of modeling the vehicle environment as dynamic occupancy grid map in complex urban scenarios using recurrent neural networks. Dynamic occupancy grid maps represent the scene in a bird's eye view, where…

In autonomous driving, Vision Language Models (VLMs) excel at high-level reasoning , whereas semantic occupancy provides fine-grained details. Despite significant progress in individual fields, there is still no method that can effectively…

3D occupancy perception technology aims to observe and understand dense 3D environments for autonomous vehicles. Owing to its comprehensive perception capability, this technology is emerging as a trend in autonomous driving perception…

In this paper, we address the novel, highly challenging problem of estimating the layout of a complex urban driving scenario. Given a single color image captured from a driving platform, we aim to predict the bird's-eye view layout of the…

Robust place recognition is essential for reliable localization in robotics, particularly in complex environments with frequent indoor-outdoor transitions. However, existing LiDAR-based datasets often focus on outdoor scenarios and lack…

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…

Understanding dynamic 3D environments is essential for safe autonomous driving, particularly when reasoning about human-centric, nonrigid agents. However, existing weakly supervised occupancy prediction frameworks predominantly assume…