相关论文: OctreeOcc: Efficient and Multi-Granularity Occupan…

Crucial for autonomous exploration, online 3D occupancy prediction and mapping incrementally constructs dense spatial representations on the fly. However, recent Gaussian-centric methods struggle with structural boundary fidelity and rely…

In point cloud compression, sufficient contexts are significant for modeling the point cloud distribution. However, the contexts gathered by the previous voxel-based methods decrease when handling sparse point clouds. To address this…

Obtaining high-quality 3D semantic occupancy from raw sensor data remains an essential yet challenging task, often requiring extensive manual labeling. In this work, we propose AutoOcc, a vision-centric automated pipeline for open-ended…

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…

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…

Vision-centric semantic occupancy prediction plays a crucial role in autonomous driving, which requires accurate and reliable predictions from low-cost sensors. Although having notably narrowed the accuracy gap with LiDAR, there is still…

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…

Modeling and understanding the environment is an essential task for autonomous driving. In addition to the detection of objects, in complex traffic scenarios the motion of other road participants is of special interest. Therefore, we…

3D environment recognition is essential for autonomous driving systems, as autonomous vehicles require a comprehensive understanding of surrounding scenes. Recently, the predominant approach to define this real-life problem is through 3D…

We introduce a deep recursive octree network for the compression of 3D voxel data. Our network compresses a voxel grid of any size down to a very small latent space in an autoencoder-like network. We show results for compressing 32, 64 and…

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…

Octree-based point cloud representation and compression have been adopted by the MPEG G-PCC standard. However, it only uses handcrafted methods to predict the probability that a leaf node is non-empty, which is then used for entropy coding.…

3D occupancy prediction is important for autonomous driving due to its comprehensive perception of the surroundings. To incorporate sequential inputs, most existing methods fuse representations from previous frames to infer the current 3D…

In this technical report, we present our solution for the Vision-Centric 3D Occupancy and Flow Prediction track in the nuScenes Open-Occ Dataset Challenge at CVPR 2024. Our innovative approach involves a dual-stage framework that enhances…

This paper introduces VLMFusionOcc3D, a robust multimodal framework for dense 3D semantic occupancy prediction in autonomous driving. Current voxel-based occupancy models often struggle with semantic ambiguity in sparse geometric grids and…

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…

A common approach for modeling the environment of an autonomous vehicle are dynamic occupancy grid maps, in which the surrounding is divided into cells, each containing the occupancy and velocity state of its location. Despite the advantage…

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…

This work presents an efficient approach for neighbourhood searching in 3D point clouds by combining spatial reordering leveraging Space-Filling Curves (SFC), specifically Morton and Hilbert curves, with a linear Octree implementation. We…

Autonomous driving requires robust perception across diverse environmental conditions, yet 3D semantic occupancy prediction remains challenging under adverse weather and lighting. In this work, we present the first study combining 4D radar…