相关论文: OccFusion: Multi-Sensor Fusion Framework for 3D Se…

Occupancy prediction has increasingly garnered attention in recent years for its fine-grained understanding of 3D scenes. Traditional approaches typically rely on dense, regular grid representations, which often leads to excessive…

3D occupancy prediction provides a comprehensive description of the surrounding scenes and has become an essential task for 3D perception. Most existing methods focus on offline perception from one or a few views and cannot be applied to…

Learning 3D scene geometry and semantics from images is a core challenge in computer vision and a key capability for autonomous driving. Since large-scale 3D annotation is prohibitively expensive, recent work explores self-supervised…

The perception system in autonomous vehicles is responsible for detecting and tracking the surrounding objects. This is usually done by taking advantage of several sensing modalities to increase robustness and accuracy, which makes sensor…

Sensor fusion is an essential topic in many perception systems, such as autonomous driving and robotics. Transformers-based detection head and CNN-based feature encoder to extract features from raw sensor-data has emerged as one of the best…

World models envision potential future states based on various ego actions. They embed extensive knowledge about the driving environment, facilitating safe and scalable autonomous driving. Most existing methods primarily focus on either…

Open-vocabulary 3D occupancy is vital for embodied agents, which need to understand complex indoor environments where semantic categories are abundant and evolve beyond fixed taxonomies. While recent work has explored open-vocabulary…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

Driven by deep learning techniques, perception technology in autonomous driving has developed rapidly in recent years, enabling vehicles to accurately detect and interpret surrounding environment for safe and efficient navigation. To…

In autonomous driving, addressing occlusion scenarios is crucial yet challenging. Robust surrounding perception is essential for handling occlusions and aiding motion planning. State-of-the-art models fuse Lidar and Camera data to produce…

Reliable perception is essential for autonomous driving systems to operate safely under diverse real-world traffic conditions. However, camera- and LiDAR-based perception systems suffer from performance degradation under adverse weather and…

Autonomous driving technology is rapidly evolving, offering the potential for safer and more efficient transportation. However, the performance of these systems can be significantly compromised by the occlusion on sensors due to…

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…

Occupancy prediction plays a pivotal role in autonomous driving. Previous methods typically construct dense 3D volumes, neglecting the inherent sparsity of the scene and suffering from high computational costs. To bridge the gap, we…

Holistic understanding and reasoning in 3D scenes are crucial for the success of autonomous driving systems. The evolution of 3D semantic occupancy prediction as a pretraining task for autonomous driving and robotic applications captures…

Three-dimensional Object Detection from multi-view cameras and LiDAR is a crucial component for autonomous driving and smart transportation. However, in the process of basic feature extraction, perspective transformation, and feature…

Multi-sensor fusion is crucial for accurate 3D object detection in autonomous driving, with cameras and LiDAR being the most commonly used sensors. However, existing methods perform sensor fusion in a single view by projecting features from…

3D semantic occupancy prediction networks have demonstrated remarkable capabilities in reconstructing the geometric and semantic structure of 3D scenes, providing crucial information for robot navigation and autonomous driving systems.…

Reliably predicting future occupancy of highly dynamic urban environments is an important precursor for safe autonomous navigation. Common challenges in the prediction include forecasting the relative position of other vehicles, modelling…

In autonomous driving, recent research has increasingly focused on collaborative perception based on deep learning to overcome the limitations of individual perception systems. Although these methods achieve high accuracy, they rely on high…