相关论文: UnO: Unsupervised Occupancy Fields for Perception …

Generating unbounded 3D scenes is crucial for large-scale scene understanding and simulation. Urban scenes, unlike natural landscapes, consist of various complex man-made objects and structures such as roads, traffic signs, vehicles, and…

A robust awareness of how dynamic scenes evolve is essential for Autonomous Driving systems, as they must accurately detect, track, and predict the behaviour of surrounding obstacles. Traditional perception pipelines that rely on modular…

Autonomous navigation requires scene understanding of the action-space to move or anticipate events. For planner agents moving on the ground plane, such as autonomous vehicles, this translates to scene understanding in the bird's-eye view…

Developing 3D semantic occupancy prediction models often relies on dense 3D annotations for supervised learning, a process that is both labor and resource-intensive, underscoring the need for label-efficient or even label-free approaches.…

Accurate 3D object detection in real-world environments requires a huge amount of annotated data with high quality. Acquiring such data is tedious and expensive, and often needs repeated effort when a new sensor is adopted or when the…

Predicting the trajectory of an ego vehicle is a critical component of autonomous driving systems. Current state-of-the-art methods typically rely on Deep Neural Networks (DNNs) and sequential models to process front-view images for future…

Vision-based bird's-eye-view (BEV) 3D object detection has advanced significantly in autonomous driving by offering cost-effectiveness and rich contextual information. However, existing methods often construct BEV representations by…

Open-World Object Detection (OWOD) extends object detection problem to a realistic and dynamic scenario, where a detection model is required to be capable of detecting both known and unknown objects and incrementally learning newly…

The capability for open vocabulary perception represents a significant advancement in autonomous driving systems, facilitating the comprehension and interpretation of a wide array of textual inputs in real-time. Despite extensive research…

The choice of representation plays a key role in self-driving. Bird's eye view (BEV) representations have shown remarkable performance in recent years. In this paper, we propose to learn object-centric representations in BEV to distill a…

Environment prediction frameworks are integral for autonomous vehicles, enabling safe navigation in dynamic environments. LiDAR generated occupancy grid maps (L-OGMs) offer a robust bird's eye-view scene representation that facilitates…

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…

Occupancy prediction has garnered increasing attention in recent years for its comprehensive fine-grained environmental representation and strong generalization to open-set objects. However, cumbersome voxel features and 3D convolution…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

Estimating 3D occupancy and motion at the vehicle's surroundings is essential for autonomous driving, enabling situational awareness in dynamic environments. Existing approaches jointly learn geometry and motion but rely on expensive 3D…

A common approach for modeling the environment of an autonomous vehicle are dynamic occupancy grid maps, in which the surrounding is divided into cells, each containing the occupancy and velocity state of its location. Despite the advantage…

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…

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…

Bird's-eye-view (BEV) semantic segmentation is becoming crucial in autonomous driving systems. It realizes ego-vehicle surrounding environment perception by projecting 2D multi-view images into 3D world space. Recently, BEV segmentation has…

Detection of moving objects is a very important task in autonomous driving systems. After the perception phase, motion planning is typically performed in Bird's Eye View (BEV) space. This would require projection of objects detected on the…