相关论文: Fully Sparse 3D Occupancy Prediction

Estimating 3D shapes and poses of static objects from a single image has important applications for robotics, augmented reality and digital content creation. Often this is done through direct mesh predictions which produces unrealistic,…

Monocular 3D occupancy prediction, aiming to predict the occupancy and semantics within interesting regions of 3D scenes from only 2D images, has garnered increasing attention recently for its vital role in 3D scene understanding.…

Scene completion and forecasting are two popular perception problems in research for mobile agents like autonomous vehicles. Existing approaches treat the two problems in isolation, resulting in a separate perception of the two aspects. In…

Non-uniformed 3D sparse data, e.g., point clouds or voxels in different spatial positions, make contribution to the task of 3D object detection in different ways. Existing basic components in sparse convolutional networks (Sparse CNNs)…

Semantic scene completion (SSC) aims to predict the semantic occupancy of each voxel in the entire 3D scene from limited observations, which is an emerging and critical task for autonomous driving. Recently, many studies have turned to…

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…

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…

Currently prevalent multimodal 3D detection methods are built upon LiDAR-based detectors that usually use dense Bird's-Eye-View (BEV) feature maps. However, the cost of such BEV feature maps is quadratic to the detection range, making it…

We present GDFusion, a temporal fusion method for vision-based 3D semantic occupancy prediction (VisionOcc). GDFusion opens up the underexplored aspects of temporal fusion within the VisionOcc framework, focusing on both temporal cues and…

In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…

Point clouds are crucial for capturing three-dimensional data but often suffer from incompleteness due to limitations such as resolution and occlusion. Traditional methods typically rely on point-based approaches within discriminative…

We introduce LOcc, an effective and generalizable framework for open-vocabulary occupancy (OVO) prediction. Previous approaches typically supervise the networks through coarse voxel-to-text correspondences via image features as…

Creating high-fidelity 3D meshes with arbitrary topology, including open surfaces and complex interiors, remains a significant challenge. Existing implicit field methods often require costly and detail-degrading watertight conversion, while…

We present SparseGen, a novel framework for efficient image-to-3D generation, which exhibits low input-view bias while being significantly faster. Unlike traditional approaches that rely on dense volumetric grids, triplanes, or…

Collaborative perception enables connected vehicles to share information, overcoming occlusions and extending the limited sensing range inherent in single-agent (non-collaborative) systems. Existing vision-only methods for 3D semantic…

Understanding world dynamics is crucial for planning in autonomous driving. Recent methods attempt to achieve this by learning a 3D occupancy world model that forecasts future surrounding scenes based on current observation. However, 3D…

Road user trajectory prediction in dynamic environments is a challenging but crucial task for various applications, such as autonomous driving. One of the main challenges in this domain is the multimodal nature of future trajectories…

Vision-based localization in a prior map is of crucial importance for autonomous vehicles. Given a query image, the goal is to estimate the camera pose corresponding to the prior map, and the key is the registration problem of camera images…

3D semantic occupancy prediction is central to autonomous driving, yet current methods are vulnerable to long-tailed class bias and out-of-distribution (OOD) inputs, often overconfidently assigning anomalies to rare classes. We present…

3D Gaussian Splatting (3DGS) has received tremendous popularity over the past few years due to its photorealistic visual appearance. However, 3DGS uses volumetric rendering that is not suitable for objects with non-lambertian or transparent…