相关论文: FastOcc: Accelerating 3D Occupancy Prediction by F…

3D semantic occupancy prediction is crucial for autonomous driving perception, offering comprehensive geometric scene understanding and semantic recognition. However, existing methods struggle with geometric misalignment in view…

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…

3D semantic occupancy prediction aims to forecast detailed geometric and semantic information of the surrounding environment for autonomous vehicles (AVs) using onboard surround-view cameras. Existing methods primarily focus on intricate…

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…

3D semantic occupancy prediction is one of the crucial tasks of autonomous driving. It enables precise and safe interpretation and navigation in complex environments. Reliable predictions rely on effective sensor fusion, as different…

While 3D object bounding box (bbox) representation has been widely used in autonomous driving perception, it lacks the ability to capture the precise details of an object's intrinsic geometry. Recently, occupancy has emerged as a promising…

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…

The vision-based perception for autonomous driving has undergone a transformation from the bird-eye-view (BEV) representations to the 3D semantic occupancy. Compared with the BEV planes, the 3D semantic occupancy further provides structural…

Autonomous driving requires efficient reasoning about the location and appearance of the different agents in the scene, which aids in downstream tasks such as object detection, object tracking, and path planning. The past few years have…

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…

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…

Recently, perception task based on Bird's-Eye View (BEV) representation has drawn more and more attention, and BEV representation is promising as the foundation for next-generation Autonomous Vehicle (AV) perception. However, most existing…

The advancement of vision-only Bird's-Eye-View (BEV) perception, a core paradigm for cost-effective autonomous driving, is hindered by the long-standing fundamental trade-off between perception accuracy and on-device deployment efficiency.…

Vision-based 3D semantic scene completion (SSC) describes autonomous driving scenes through 3D volume representations. However, the occlusion of invisible voxels by scene surfaces poses challenges to current SSC methods in hallucinating…

Vision-based 3D occupancy prediction has made significant advancements, but its reliance on cameras alone struggles in challenging environments. This limitation has driven the adoption of sensor fusion, among which camera-radar fusion…

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…

Vision-based 3D occupancy prediction is significantly challenged by the inherent limitations of monocular vision in depth estimation. This paper introduces CVT-Occ, a novel approach that leverages temporal fusion through the geometric…

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…

We introduce a self-supervised pretraining method, called OccFeat, for camera-only Bird's-Eye-View (BEV) segmentation networks. With OccFeat, we pretrain a BEV network via occupancy prediction and feature distillation tasks. Occupancy…

Occupancy prediction reconstructs 3D structures of surrounding environments. It provides detailed information for autonomous driving planning and navigation. However, most existing methods heavily rely on the LiDAR point clouds to generate…