相关论文: MergeOcc: Bridge the Domain Gap between Different …

The past few years have witnessed an increasing interest in improving the perception performance of LiDARs on autonomous vehicles. While most of the existing works focus on developing new deep learning algorithms or model architectures, we…

Self-supervision for semantic occupancy estimation is appealing as it removes the labour-intensive manual annotation, thus allowing one to scale to larger autonomous driving datasets. Superquadrics offer an expressive shape family very…

Unlabeled LiDAR logs, in autonomous driving applications, are inherently a gold mine of dense 3D geometry hiding in plain sight - yet they are almost useless without human labels, highlighting a dominant cost barrier for…

Understanding 3D scenes semantically and spatially is crucial for the safe navigation of robots and autonomous vehicles, aiding obstacle avoidance and accurate trajectory planning. Camera-based 3D semantic occupancy prediction, which infers…

Accurate 3D scene understanding is essential for embodied intelligence, with occupancy prediction emerging as a key task for reasoning about both objects and free space. Existing approaches largely rely on depth priors (e.g., DepthAnything)…

Using deep learning, 3D autonomous driving semantic segmentation has become a well-studied subject, with methods that can reach very high performance. Nonetheless, because of the limited size of the training datasets, these models cannot…

Estimating accurate lane lines in 3D space remains challenging due to their sparse and slim nature. Previous works mainly focused on using images for 3D lane detection, leading to inherent projection error and loss of geometry information.…

Humanoid robot technology is advancing rapidly, with manufacturers introducing diverse heterogeneous visual perception modules tailored to specific scenarios. Among various perception paradigms, occupancy-based representation has become…

We present INDOOR-LIDAR, a comprehensive hybrid dataset of indoor 3D LiDAR point clouds designed to advance research in robot perception. Existing indoor LiDAR datasets often suffer from limited scale, inconsistent annotation formats, and…

3D semantic occupancy prediction is a cornerstone of robotic perception, yet real-world voxel annotations are inherently corrupted by structural artifacts and dynamic trailing effects. This raises a critical but underexplored question: can…

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 navigation and exploration in unmapped environments remains a significant challenge in robotics due to the difficulty robots face in making commonsense inference of unobserved geometries. Recent advancements have demonstrated…

A common approach for modeling the environment of an autonomous vehicle are dynamic occupancy grid maps, in which the surrounding is divided into cells, each containing the occupancy and velocity state of its location. Despite the advantage…

Multi-camera 3D perception has emerged as a prominent research field in autonomous driving, offering a viable and cost-effective alternative to LiDAR-based solutions. The existing multi-camera algorithms primarily rely on monocular 2D…

Domain adaptation for Cross-LiDAR 3D detection is challenging due to the large gap on the raw data representation with disparate point densities and point arrangements. By exploring domain-invariant 3D geometric characteristics and motion…

Machine learning models are increasingly used in practice. However, many machine learning methods are sensitive to test or operational data that is dissimilar to training data. Out-of-distribution (OOD) data is known to increase the…

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…

Camera and 3D LiDAR sensors have become indispensable devices in modern autonomous driving vehicles, where the camera provides the fine-grained texture, color information in 2D space and LiDAR captures more precise and farther-away distance…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

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.…