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

3D occupancy becomes a promising perception representation for autonomous driving to model the surrounding environment at a fine-grained scale. However, it remains challenging to efficiently aggregate 3D occupancy over time across multiple…

The resolution of voxel queries significantly influences the quality of view transformation in camera-based 3D occupancy prediction. However, computational constraints and the practical necessity for real-time deployment require smaller…

Single camera 3D perception for traffic monitoring faces significant challenges due to occlusion and limited field of view. Moreover, fusing information from multiple cameras at the image feature level is difficult because of different view…

This paper introduces a novel architecture for trajectory-conditioned forecasting of future 3D scene occupancy. In contrast to methods that rely on variational autoencoders (VAEs) to generate discrete occupancy tokens, which inherently…

Understanding the 3D geometry and semantics of driving scenes is critical for safe autonomous driving. Recent advances in 3D occupancy prediction have improved scene representation but often suffer from visual inconsistencies, leading to…

Vision-centric Bird's Eye View (BEV) perception holds considerable promise for autonomous driving. Recent studies have prioritized efficiency or accuracy enhancements, yet the issue of domain shift has been overlooked, leading to…

Three-dimensional feature extraction is a critical component of autonomous driving systems, where perception tasks such as 3D object detection, bird's-eye-view (BEV) semantic segmentation, and occupancy prediction serve as important…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

Vision-centric bird-eye-view (BEV) perception has shown promising potential in autonomous driving. Recent works mainly focus on improving efficiency or accuracy but neglect the challenges when facing environment changing, resulting in…

3D semantic occupancy prediction, which seeks to provide accurate and comprehensive representations of environment scenes, is important to autonomous driving systems. For autonomous cars equipped with multi-camera and LiDAR, it is critical…

Perceiving the world as 3D occupancy supports embodied agents to avoid collision with any types of obstacle. While open-vocabulary image understanding has prospered recently, how to bind the predicted 3D occupancy grids with open-world…

Autonomous driving requires forecasting both geometry and semantics over time to effectively reason about future environment states. Existing vision-based occupancy forecasting methods focus on motion-related categories such as static and…

3D semantic scene labeling is a fundamental task for Autonomous Driving. Recent work shows the capability of Deep Neural Networks in labeling 3D point sets provided by sensors like LiDAR, and Radar. Imbalanced distribution of classes in the…

Multi-view camera-only 3D object detection largely follows two primary paradigms: exploiting bird's-eye-view (BEV) representations or focusing on perspective-view (PV) features, each with distinct advantages. Although several recent…

Bird's-Eye-View (BEV) perception has become a vital component of autonomous driving systems due to its ability to integrate multiple sensor inputs into a unified representation, enhancing performance in various downstream tasks. However,…

This report presents our method which wins the nuScenes3D Detection Challenge [17] held in Workshop on Autonomous Driving(WAD, CVPR 2019). Generally, we utilize sparse 3D convolution to extract rich semantic features, which are then fed…

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 occupancy prediction (3DOcc) is a rapidly rising and challenging perception task in the field of autonomous driving. Existing 3D occupancy networks (OccNets) are both computationally heavy and label-hungry. In terms of model complexity,…

Camera-based bird-eye-view (BEV) perception paradigm has made significant progress in the autonomous driving field. Under such a paradigm, accurate BEV representation construction relies on reliable depth estimation for multi-camera images.…

Semantic segmentation in autonomous driving has been undergoing an evolution from sparse point segmentation to dense voxel segmentation, where the objective is to predict the semantic occupancy of each voxel in the concerned 3D space. The…