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

Bird's-Eye View (BEV) Perception has received increasing attention in recent years as it provides a concise and unified spatial representation across views and benefits a diverse set of downstream driving applications. At the same time,…

We propose DOME, a diffusion-based world model that predicts future occupancy frames based on past occupancy observations. The ability of this world model to capture the evolution of the environment is crucial for planning in autonomous…

In this paper, we propose OccTENS, a generative occupancy world model that enables controllable, high-fidelity long-term occupancy generation while maintaining computational efficiency. Different from visual generation, the occupancy world…

Bird's-Eye View (BEV) features are popular intermediate scene representations shared by the 3D backbone and the detector head in LiDAR-based object detectors. However, little research has been done to investigate how to incorporate…

Accurate perception and scene understanding in complex urban environments is a critical challenge for ensuring safe and efficient autonomous navigation. In this paper, we present Co-Win, a novel bird's eye view (BEV) perception framework…

3D object detection is an essential perception task in autonomous driving to understand the environments. The Bird's-Eye-View (BEV) representations have significantly improved the performance of 3D detectors with camera inputs on popular…

We propose a weakly-supervised multi-view learning approach to learn category-specific surface mapping without dense annotations. We learn the underlying surface geometry of common categories, such as human faces, cars, and airplanes, given…

Driving scene generation is a critical domain for autonomous driving, enabling downstream applications, including perception and planning evaluation. Occupancy-centric methods have recently achieved state-of-the-art results by offering…

An accurate understanding of a self-driving vehicle's surrounding environment is crucial for its navigation system. To enhance the effectiveness of existing algorithms and facilitate further research, it is essential to provide…

Airborne LiDAR systems have the capability to capture the Earth's surface by generating extensive point cloud data comprised of points mainly defined by 3D coordinates. However, labeling such points for supervised learning tasks is…

Camera-based end-to-end driving neural networks bring the promise of a low-cost system that maps camera images to driving control commands. These networks are appealing because they replace laborious hand engineered building blocks but…

The perception of motion behavior in a dynamic environment holds significant importance for autonomous driving systems, wherein class-agnostic motion prediction methods directly predict the motion of the entire point cloud. While most…

In this work, we consider the safety-oriented performance of 3D object detectors in autonomous driving contexts. Specifically, despite impressive results shown by the mass literature, developers often find it hard to ensure the safe…

We introduce a self-supervised pretraining method, called OccFeat, for camera-only Bird's-Eye-View (BEV) segmentation networks. With OccFeat, we pretrain a BEV network via occupancy prediction and feature distillation tasks. Occupancy…

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…

Current research in semantic bird's-eye view segmentation for autonomous driving focuses solely on optimizing neural network models using a single dataset, typically nuScenes. This practice leads to the development of highly specialized…

Recent breakthroughs in autonomous driving have been propelled by advances in robust world modeling, fundamentally transforming how vehicles interpret dynamic scenes and execute safe decision-making. World models have emerged as a linchpin…

With the advantage of high mobility, Unmanned Aerial Vehicles (UAVs) are used to fuel numerous important applications in computer vision, delivering more efficiency and convenience than surveillance cameras with fixed camera angle, scale…

We present an unsupervised adaptation approach for visual scene understanding in unstructured traffic environments. Our method is designed for unstructured real-world scenarios with dense and heterogeneous traffic consisting of cars,…

Traffic prediction is a challenging spatio-temporal forecasting problem that involves highly complex spatio-temporal correlations. This paper proposes a Multi-level Multi-view Augmented Spatio-temporal Transformer (LVSTformer) for traffic…