相关论文: EFFOcc: Learning Efficient Occupancy Networks from…

Occupancy prediction has increasingly garnered attention in recent years for its fine-grained understanding of 3D scenes. Traditional approaches typically rely on dense, regular grid representations, which often leads to excessive…

Autonomous driving has the potential to significantly enhance productivity and provide numerous societal benefits. Ensuring robustness in these safety-critical systems is essential, particularly when vehicles must navigate adverse weather…

3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception. Existing methods based on 3D Gaussians instead of dense…

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…

Image matching is a fundamental and critical task in various visual applications, such as Simultaneous Localization and Mapping (SLAM) and image retrieval, which require accurate pose estimation. However, most existing methods ignore the…

Accurate 3D semantic occupancy perception is essential for autonomous driving in complex environments with diverse and irregular objects. While vision-centric methods suffer from geometric inaccuracies, LiDAR-based approaches often lack…

3D semantic occupancy prediction networks have demonstrated remarkable capabilities in reconstructing the geometric and semantic structure of 3D scenes, providing crucial information for robot navigation and autonomous driving systems.…

Understanding how the surrounding environment changes is crucial for performing downstream tasks safely and reliably in autonomous driving applications. Recent occupancy estimation techniques using only camera images as input can provide…

Panoptic occupancy prediction aims to jointly infer voxel-wise semantics and instance identities within a unified 3D scene representation. Nevertheless, progress in this field remains constrained by the absence of high-quality 3D mesh…

This technical report summarizes the winning solution for the 3D Occupancy Prediction Challenge, which is held in conjunction with the CVPR 2023 Workshop on End-to-End Autonomous Driving and CVPR 23 Workshop on Vision-Centric Autonomous…

Occupancy prediction plays a pivotal role in autonomous driving. Previous methods typically construct dense 3D volumes, neglecting the inherent sparsity of the scene and suffering from high computational costs. To bridge the gap, we…

Estimating the 3D world from 2D monocular images is a fundamental yet challenging task due to the labour-intensive nature of 3D annotations. To simplify label acquisition, this work proposes a novel approach that bridges 2D vision…

In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…

Dense 3D semantic occupancy perception is critical for mobile robots operating in pedestrian-rich environments, yet it remains underexplored compared to its application in autonomous driving. To address this gap, we present MobileOcc, a…

This technical report presents our solution, "occTransformer" for the 3D occupancy prediction track in the autonomous driving challenge at CVPR 2023. Our method builds upon the strong baseline BEVFormer and improves its performance through…

The task of estimating 3D occupancy from surrounding-view images is an exciting development in the field of autonomous driving, following the success of Bird's Eye View (BEV) perception. This task provides crucial 3D attributes of the…

The perception system for autonomous driving generally requires to handle multiple diverse sub-tasks. However, current algorithms typically tackle individual sub-tasks separately, which leads to low efficiency when aiming at obtaining…

Spatially aligning medical images from different modalities remains a challenging task, especially for intraoperative applications that require fast and robust algorithms. We propose a weakly-supervised, label-driven formulation for…

Addressing the task of 3D semantic occupancy prediction for autonomous driving, we tackle two key issues in existing 3D Gaussian Splatting (3DGS) methods: (1) unified feature aggregation neglecting semantic correlations among similar…

Accurate perception of the surrounding environment is essential for safe autonomous driving. 3D occupancy prediction, which estimates detailed 3D structures of roads, buildings, and other objects, is particularly important for…