相关论文: COTR: Compact Occupancy TRansformer for Vision-bas…

Optical coherence tomography angiography (OCTA) shows its great importance in imaging microvascular networks by providing accurate 3D imaging of blood vessels, but it relies upon specialized sensors and expensive devices. For this reason,…

State-of-the-art navigation methods leverage a spatial memory to generalize to new environments, but their occupancy maps are limited to capturing the geometric structures directly observed by the agent. We propose occupancy anticipation,…

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.…

We present Flex, an efficient and effective scene encoder that addresses the computational bottleneck of processing high-volume multi-camera data in end-to-end autonomous driving. Flex employs a small set of learnable scene tokens to…

Annotating 3D LiDAR point clouds for perception tasks is fundamental for many applications e.g., autonomous driving, yet it still remains notoriously labor-intensive. Pretraining-finetuning approach can alleviate the labeling burden by…

We introduce GaussianOcc, a systematic method that investigates the two usages of Gaussian splatting for fully self-supervised and efficient 3D occupancy estimation in surround views. First, traditional methods for self-supervised 3D…

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…

Visual grounding aims to identify objects or regions in a scene based on natural language descriptions, essential for spatially aware perception in autonomous driving. However, existing visual grounding tasks typically depend on bounding…

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…

3D semantic occupancy has rapidly become a research focus in the fields of robotics and autonomous driving environment perception due to its ability to provide more realistic geometric perception and its closer integration with downstream…

A detailed environment representation is a crucial component of automated vehicles. Using single range sensor scans, data is often too sparse and subject to occlusions. Therefore, we present a method to augment occupancy grid maps from…

We present a deep convolutional decoder architecture that can generate volumetric 3D outputs in a compute- and memory-efficient manner by using an octree representation. The network learns to predict both the structure of the octree, and…

In this work, we present a unified framework for multi-modality 3D object detection, named UVTR. The proposed method aims to unify multi-modality representations in the voxel space for accurate and robust single- or cross-modality 3D…

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 semantic occupancy prediction, which seeks to provide accurate and comprehensive representations of environment scenes, is important to autonomous driving systems. For autonomous cars equipped with multi-camera and LiDAR, it is critical…

Multi-view implicit scene reconstruction methods have become increasingly popular due to their ability to represent complex scene details. Recent efforts have been devoted to improving the representation of input information and to reducing…

DETR has been recently proposed to eliminate the need for many hand-designed components in object detection while demonstrating good performance. However, it suffers from slow convergence and limited feature spatial resolution, due to the…

3D occupancy prediction has attracted much attention in the field of autonomous driving due to its powerful geometric perception and object recognition capabilities. However, existing methods have not explored the most essential…

Given the capability of mitigating the long-tail deficiencies and intricate-shaped absence prevalent in 3D object detection, occupancy prediction has become a pivotal component in autonomous driving systems. However, the procession of…

Occupancy estimation has become a prominent task in 3D computer vision, particularly within the autonomous driving community. In this paper, we present a novel approach to occupancy estimation, termed GaussianFlowOcc, which is inspired by…