相关论文: PaSCo: Urban 3D Panoptic Scene Completion with Unc…

For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…

Panoptic segmentation is a scene parsing task which unifies semantic segmentation and instance segmentation into one single task. However, the current state-of-the-art studies did not take too much concern on inference time. In this work,…

Spectral clustering is a popular method for effectively clustering nonlinearly separable data. However, computational limitations, memory requirements, and the inability to perform incremental learning challenge its widespread application.…

This paper presents a unified framework for depth-aware panoptic segmentation (DPS), which aims to reconstruct 3D scene with instance-level semantics from one single image. Prior works address this problem by simply adding a dense depth…

Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…

We propose a Stochastic MPC (SMPC) formulation for path planning with autonomous vehicles in scenarios involving multiple agents with multi-modal predictions. The multi-modal predictions capture the uncertainty of urban driving in distinct…

Semantic Scene Completion (SSC) is essential for 3D perception in mobile robotics, as it enables holistic scene understanding by jointly estimating dense volumetric occupancy and per-voxel semantics. Although SSC has been widely studied in…

Panoptic scene understanding and tracking of dynamic agents are essential for robots and automated vehicles to navigate in urban environments. As LiDARs provide accurate illumination-independent geometric depictions of the scene, performing…

Estimating simulation-ready scenes from real-world observations is crucial for downstream planning and policy learning tasks. Regretfully, existing methods struggle in cluttered environments, often exhibiting prohibitive computational cost,…

We present a novel method for matrix completion, specifically designed for matrices where one dimension is significantly larger than the other. Our Columns Selected Matrix Completion (CSMC) method combines Column Subset Selection with…

3D occupancy prediction is critical for comprehensive scene understanding in vision-centric autonomous driving. Recent advances have explored utilizing 3D semantic Gaussians to model occupancy while reducing computational overhead, but they…

This paper introduces panoptica, a versatile and performance-optimized package designed for computing instance-wise segmentation quality metrics from 2D and 3D segmentation maps. panoptica addresses the limitations of existing metrics and…

While current state-of-the-art Scene Change Detection (SCD) approaches achieve impressive results in well-trained research data, they become unreliable under unseen environments and different temporal conditions; in-domain performance drops…

3D Semantic Scene Completion (SSC) can provide dense geometric and semantic scene representations, which can be applied in the field of autonomous driving and robotic systems. It is challenging to estimate the complete geometry and…

We present SplatCo, a structure-view collaborative Gaussian splatting framework for high-fidelity rendering of complex outdoor scenes. SplatCo builds upon three novel components: 1) a cross-structure collaboration module that combines…

Accurate perception of dynamic traffic scenes is crucial for high-level autonomous driving systems, requiring robust object motion estimation and instance segmentation. However, traditional methods often treat them as separate tasks,…

Panoptic occupancy poses a novel challenge by aiming to integrate instance occupancy and semantic occupancy within a unified framework. However, there is still a lack of efficient solutions for panoptic occupancy. In this paper, we propose…

In this paper, we present an approach, namely Lexical Semantic Image Completion (LSIC), that may have potential applications in art, design, and heritage conservation, among several others. Existing image completion procedure is highly…

Real-world decision-making systems are often subject to uncertainties that have to be resolved through observational data. Therefore, we are frequently confronted with combinatorial optimization problems of which the objective function is…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…