相关论文: Co-Occ: Coupling Explicit Feature Fusion with Volu…

Occupancy is crucial for autonomous driving, providing essential geometric priors for perception and planning. However, existing methods predominantly rely on LiDAR-based occupancy annotations, which limits scalability and prevents…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…

Precise 3D environmental mapping is pivotal in robotics. Existing methods often rely on predefined concepts during training or are time-intensive when generating semantic maps. This paper presents Open-Fusion, a groundbreaking approach for…

With the growing adoption of vision-language-action models and world models in autonomous driving systems, scalable image tokenization becomes crucial as the interface for the visual modality. However, most existing tokenizers are designed…

LiDAR-based 3D object detection presents significant challenges due to the inherent sparsity of LiDAR points. A common solution involves long-term temporal LiDAR data to densify the inputs. However, efficiently leveraging spatial-temporal…

Accurate and high-fidelity driving scene reconstruction relies on fully leveraging scene information as conditioning. However, existing approaches, which primarily use 3D bounding boxes and binary maps for foreground and background control,…

Monocular 3D detection is a challenging task due to the lack of accurate 3D information. Existing approaches typically rely on geometry constraints and dense depth estimates to facilitate the learning, but often fail to fully exploit the…

3D semantic occupancy has rapidly become a research focus in the fields of robotics and autonomous driving environment perception due to its ability to provide more realistic geometric perception and its closer integration with downstream…

Recent diffusion models have demonstrated remarkable performance in both 3D scene generation and perception tasks. Nevertheless, existing methods typically separate these two processes, acting as a data augmenter to generate synthetic data…

The rise of autonomous vehicles has significantly increased the demand for robust 3D object detection systems. While cameras and LiDAR sensors each offer unique advantages--cameras provide rich texture information and LiDAR offers precise…

Precise spatial modeling in the operating room (OR) is foundational to many clinical tasks, supporting intraoperative awareness, hazard avoidance, and surgical decision-making. While existing approaches leverage large-scale multimodal…

Existing solutions for 3D semantic occupancy prediction typically treat the task as a one-shot 3D voxel-wise segmentation perception problem. These discriminative methods focus on learning the mapping between the inputs and occupancy map in…

Accurate moving object segmentation is an essential task for autonomous driving. It can provide effective information for many downstream tasks, such as collision avoidance, path planning, and static map construction. How to effectively…

With the burgeoning development of fields such as the Metaverse, Virtual Reality (VR), and Digital Twins, text-to-3D generation has emerged as a research hotspot in both academia and industry. Currently, optimization methods based on Score…

In recent years, the research community has shown a lot of interest to panoramic images that offer a 360-degree directional perspective. Multiple data modalities can be fed, and complimentary characteristics can be utilized for more robust…

Multi-camera 3D object detection (MC3D) has attracted increasing attention with the growing deployment of multi-sensor physical agents, such as robots and autonomous vehicles. However, MC3D models still struggle to generalize to unseen…

We study the use of image-based Vision-Language Models (VLMs) for open-vocabulary segmentation of lidar scans in driving settings. Classically, image semantics can be back-projected onto 3D point clouds. Yet, resulting point labels are…

The vision-based semantic scene completion task aims to predict dense geometric and semantic 3D scene representations from 2D images. However, the presence of dynamic objects in the scene seriously affects the accuracy of the model…

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…

Multimodal learning aims to capture both shared and private information from multiple modalities. However, existing methods that project all modalities into a single latent space for fusion often overlook the asynchronous, multi-level…