相关论文: Improving 3D Occupancy Prediction through Class-ba…

3D object detection in Bird's-Eye-View (BEV) space has recently emerged as a prevalent approach in the field of autonomous driving. Despite the demonstrated improvements in accuracy and velocity estimation compared to perspective view…

Perceiving the world and forecasting its future state is a critical task for self-driving. Supervised approaches leverage annotated object labels to learn a model of the world -- traditionally with object detections and trajectory…

Understanding world dynamics is crucial for planning in autonomous driving. Recent methods attempt to achieve this by learning a 3D occupancy world model that forecasts future surrounding scenes based on current observation. However, 3D…

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…

3D occupancy prediction provides dense spatial understanding critical for safe autonomous driving. However, this task suffers from a severe class imbalance due to its volumetric representation, where safety-critical objects (bicycles,…

In this technical report, we present our solution, named UniOCC, for the Vision-Centric 3D occupancy prediction track in the nuScenes Open Dataset Challenge at CVPR 2023. Existing methods for occupancy prediction primarily focus on…

Modern methods for vision-centric autonomous driving perception widely adopt the bird's-eye-view (BEV) representation to describe a 3D scene. Despite its better efficiency than voxel representation, it has difficulty describing the…

Semantic occupancy perception is essential for autonomous driving, as automated vehicles require a fine-grained perception of the 3D urban structures. However, existing relevant benchmarks lack diversity in urban scenes, and they only…

In perception for automated vehicles, safety is critical not only for the driver but also for other agents in the scene, particularly vulnerable road users such as pedestrians and cyclists. Previous representation methods, such as Bird's…

Bird's eye view (BEV)-based 3D perception plays a crucial role in autonomous driving applications. The rise of large language models has spurred interest in BEV-based captioning to understand object behavior in the surrounding environment.…

3D occupancy prediction has recently emerged as a new paradigm for holistic 3D scene understanding and provides valuable information for downstream planning in autonomous driving. Most existing methods, however, are computationally…

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…

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…

The bird's-eye-view (BEV) representation allows robust learning of multiple tasks for autonomous driving including road layout estimation and 3D object detection. However, contemporary methods for unified road layout estimation and 3D…

3D scene understanding plays a vital role in vision-based autonomous driving. While most existing methods focus on 3D object detection, they have difficulty describing real-world objects of arbitrary shapes and infinite classes. Towards a…

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…

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…

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…

3D semantic occupancy prediction offers an intuitive and efficient scene understanding and has attracted significant interest in autonomous driving perception. Existing approaches either rely on full supervision, which demands costly…

Unmanned Aerial Vehicle (UAV) swarm systems necessitate efficient collaborative perception mechanisms for diverse operational scenarios. Current Bird's Eye View (BEV)-based approaches exhibit two main limitations: bounding-box…