相关论文: Fully Sparse 3D Occupancy Prediction

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…

Multi-sensor fusion significantly enhances the accuracy and robustness of 3D semantic occupancy prediction, which is crucial for autonomous driving and robotics. However, most existing approaches depend on high-resolution images and complex…

Existing vision-based 3D occupancy prediction methods are inherently limited in accuracy due to their exclusive reliance on street-view imagery, neglecting the potential benefits of incorporating satellite views. We propose SA-Occ, the…

We introduce UniOcc, a comprehensive, unified benchmark and toolkit for occupancy forecasting (i.e., predicting future occupancies based on historical information) and occupancy prediction (i.e., predicting current-frame occupancy from…

Camera-based 3D semantic occupancy prediction offers an efficient and cost-effective solution for perceiving surrounding scenes in autonomous driving. However, existing works rely on explicit occupancy state inference, leading to numerous…

3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception. Existing methods based on 3D Gaussians instead of dense…

3D occupancy prediction holds significant promise in the fields of robot perception and autonomous driving, which quantifies 3D scenes into grid cells with semantic labels. Recent works mainly utilize complete occupancy labels in 3D voxel…

3D occupancy becomes a promising perception representation for autonomous driving to model the surrounding environment at a fine-grained scale. However, it remains challenging to efficiently aggregate 3D occupancy over time across multiple…

Semantic occupancy prediction enables dense 3D geometric and semantic understanding for autonomous driving. However, existing camera-based approaches implicitly assume complete surround-view observations, an assumption that rarely holds in…

Semantic and panoptic occupancy prediction for road scene analysis provides a dense 3D representation of the ego vehicle's surroundings. Current camera-only approaches typically rely on costly dense 3D supervision or require training models…

Self-supervised 3D occupancy prediction offers a promising solution for understanding complex driving scenes without requiring costly 3D annotations. However, training dense occupancy decoders to capture fine-grained geometry and semantics…

In autonomous vehicles, understanding the surrounding 3D environment of the ego vehicle in real-time is essential. A compact way to represent scenes while encoding geometric distances and semantic object information is via 3D semantic…

3D semantic occupancy prediction is an essential part of autonomous driving, focusing on capturing the geometric details of scenes. Off-road environments are rich in geometric information, therefore it is suitable for 3D semantic occupancy…

Comprehensive modeling of the surrounding 3D world is key to the success of autonomous driving. However, existing perception tasks like object detection, road structure segmentation, depth & elevation estimation, and open-set object…

Achieving highly accurate and real-time 3D occupancy prediction from cameras is a critical requirement for the safe and practical deployment of autonomous vehicles. While this shift to sparse 3D representations solves the encoding…

Autonomous driving requires forecasting both geometry and semantics over time to effectively reason about future environment states. Existing vision-based occupancy forecasting methods focus on motion-related categories such as static and…

Monocular Semantic Occupancy Prediction aims to infer the complete 3D geometry and semantic information of scenes from only 2D images. It has garnered significant attention, particularly due to its potential to enhance the 3D perception of…

Dense 3D semantic occupancy perception is critical for mobile robots operating in pedestrian-rich environments, yet it remains underexplored compared to its application in autonomous driving. To address this gap, we present MobileOcc, a…

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…

Robotic perception requires the modeling of both 3D geometry and semantics. Existing methods typically focus on estimating 3D bounding boxes, neglecting finer geometric details and struggling to handle general, out-of-vocabulary objects. 3D…