相关论文: Fully Sparse 3D Occupancy Prediction

Autonomous driving perception faces significant challenges due to occlusions and incomplete scene data in the environment. To overcome these issues, the task of semantic occupancy prediction (SOP) is proposed, which aims to jointly infer…

Accurate 3D perception is essential for autonomous driving. Traditional methods often struggle with geometric ambiguity due to a lack of geometric prior. To address these challenges, we use omnidirectional depth estimation to introduce…

Online 3D occupancy prediction provides a comprehensive spatial understanding of embodied environments. While the innovative EmbodiedOcc framework utilizes 3D semantic Gaussians for progressive indoor occupancy prediction, it overlooks the…

Sparse 3D detectors have received significant attention since the query-based paradigm embraces low latency without explicit dense BEV feature construction. However, these detectors achieve worse performance than their dense counterparts.…

The booming of 3D recognition in the 2020s began with the introduction of point cloud transformers. They quickly overwhelmed sparse CNNs and became state-of-the-art models, especially in 3D semantic segmentation. However, sparse CNNs are…

This paper introduces InverseMatrixVT3D, an efficient method for transforming multi-view image features into 3D feature volumes for 3D semantic occupancy prediction. Existing methods for constructing 3D volumes often rely on depth…

One essential step to realize modern driver assistance technology is the accurate knowledge about the location of static objects in the environment. In this work, we use artificial neural networks to predict the occupation state of a whole…

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…

Autonomous vehicles need a complete map of their surroundings to plan and act. This has sparked research into the tasks of 3D occupancy prediction, 3D scene completion, and 3D panoptic scene completion, which predict a dense map of the ego…

3D semantic occupancy and flow prediction are fundamental to spatiotemporal scene understanding. This paper proposes a vision-based framework with three targeted improvements. First, we introduce an occlusion-aware adaptive lifting…

A self-driving vehicle (SDV) must be able to perceive its surroundings and predict the future behavior of other traffic participants. Existing works either perform object detection followed by trajectory forecasting of the detected objects,…

In this report, we present the 4th place solution for CVPR 2023 3D occupancy prediction challenge. We propose a simple method called Multi-Scale Occ for occupancy prediction based on lift-splat-shoot framework, which introduces multi-scale…

Point-cloud-based 3D perception has attracted great attention in various applications including robotics, autonomous driving and AR/VR. In particular, the 3D sparse convolution (SpConv) network has emerged as one of the most popular…

Recent progress in self- and weakly supervised occupancy estimation has largely relied on 2D projection or rendering-based supervision, which suffers from geometric inconsistencies and severe depth bleeding. We thus introduce ShelfOcc, a…

3D Panoptic Occupancy Prediction aims to reconstruct a dense volumetric scene map by predicting the semantic class and instance identity of every occupied region in 3D space. Achieving such fine-grained 3D understanding requires precise…

Weakly-supervised 3D occupancy perception is crucial for vision-based autonomous driving in outdoor environments. Previous methods based on NeRF often face a challenge in balancing the number of samples used. Too many samples can decrease…

Collaborative perception in automated vehicles leverages the exchange of information between agents, aiming to elevate perception results. Previous camera-based collaborative 3D perception methods typically employ 3D bounding boxes or…

3D semantic occupancy prediction is an emerging perception paradigm in autonomous driving, providing a voxel-level representation of both geometric details and semantic categories. However, its effectiveness is inherently constrained in…

This paper introduces the Parsimonious Dynamic Mode Decomposition (parsDMD), a novel algorithm designed to automatically select an optimally sparse subset of dynamic modes for both spatiotemporal and purely temporal data. By incorporating…

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…