相关论文: Not All Voxels Are Equal: Hardness-Aware Semantic …

Monocular scene understanding is a foundational component of autonomous systems. Within the spectrum of monocular perception topics, one crucial and useful task for holistic 3D scene understanding is semantic scene completion (SSC), which…

Semantic segmentation requires a holistic understanding of the physical world, as it assigns semantic labels to spatially continuous and structurally coherent objects rather than to isolated pixels. However, existing data-free knowledge…

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 object detection aims to recover the 3D information of concerning objects and serves as the fundamental task of autonomous driving perception. Its performance greatly depends on the scale of labeled training data, yet it is costly to…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

3D occupancy prediction is an emerging task that aims to estimate the occupancy states and semantics of 3D scenes using multi-view images. However, image-based scene perception encounters significant challenges in achieving accurate…

Training deep models for semantic scene completion (SSC) is challenging due to the sparse and incomplete input, a large quantity of objects of diverse scales as well as the inherent label noise for moving objects. To address the…

3D semantic occupancy prediction aims to reconstruct the 3D geometry and semantics of the surrounding environment. With dense voxel labels, prior works typically formulate it as a dense segmentation task, independently classifying each…

Voxel is an important format to represent geometric data, which has been widely used for 3D deep learning in shape analysis due to its generalization ability and regular data format. However, fine-grained tasks like part segmentation…

We introduce ScanComplete, a novel data-driven approach for taking an incomplete 3D scan of a scene as input and predicting a complete 3D model along with per-voxel semantic labels. The key contribution of our method is its ability to…

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…

Camera-based 3D semantic scene completion (SSC) offers a cost-effective solution for assessing the geometric occupancy and semantic labels of each voxel in the surrounding 3D scene with image inputs, providing a voxel-level scene perception…

Deep neural networks have achieved impressive performance across a wide range of tasks, but this success often comes with substantial computational and storage costs due to large-scale training data. Dataset distillation addresses this…

3D Semantic Scene Completion (SSC) has gained increasing attention due to its pivotal role in 3D perception. Recent advancements have primarily focused on refining voxel-level features to construct 3D scenes. However, treating voxels as the…

3D Semantic Scene Completion (SSC) provides comprehensive scene geometry and semantics for autonomous driving perception, which is crucial for enabling accurate and reliable decision-making. However, existing SSC methods are limited to…

We propose the task of Panoptic Scene Completion (PSC) which extends the recently popular Semantic Scene Completion (SSC) task with instance-level information to produce a richer understanding of the 3D scene. Our PSC proposal utilizes a…

Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…

The safe operation of autonomous vehicles (AVs) is highly dependent on their understanding of the surroundings. For this, the task of 3D semantic occupancy prediction divides the space around the sensors into voxels, and labels each voxel…

Occupancy prediction provides critical geometric and semantic understanding for robotics but faces efficiency-accuracy trade-offs. Current dense methods suffer computational waste on empty voxels, while sparse query-based approaches lack…

Perception systems play a crucial role in autonomous driving, incorporating multiple sensors and corresponding computer vision algorithms. 3D LiDAR sensors are widely used to capture sparse point clouds of the vehicle's surroundings.…