相关论文: Panoptic-FlashOcc: An Efficient Baseline to Marry …

In this paper, we present a conceptually simple, strong, and efficient framework for panoptic segmentation, called Panoptic FCN. Our approach aims to represent and predict foreground things and background stuff in a unified fully…

Standard frame-based cameras that sample light intensity frames are heavily impacted by motion blur for high-speed motion and fail to perceive scene accurately when the dynamic range is high. Event-based cameras, on the other hand, overcome…

Occupancy Network has recently attracted much attention in autonomous driving. Instead of monocular 3D detection and recent bird's eye view(BEV) models predicting 3D bounding box of obstacles, Occupancy Network predicts the category of…

We present SOccDPT, a memory-efficient approach for 3D semantic occupancy prediction from monocular image input using dense prediction transformers. To address the limitations of existing methods trained on structured traffic datasets, we…

In the last few years, convolutional neural networks (CNNs) have demonstrated increasing success at learning many computer vision tasks including dense estimation problems such as optical flow and stereo matching. However, the joint…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Efficient machine learning inference is essential for the rapid adoption of artificial intelligence across various domains.On-chip optical computing has emerged as a transformative solution for accelerating machine learning tasks, owing to…

In this work, we present an end-to-end network for fast panoptic segmentation. This network, called Fast Panoptic Segmentation Network (FPSNet), does not require computationally costly instance mask predictions or merging heuristics. This…

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…

3D semantic occupancy prediction is crucial for autonomous driving perception, offering comprehensive geometric scene understanding and semantic recognition. However, existing methods struggle with geometric misalignment in view…

We propose Motion-Compensated Latent Semantic Canvases (MCLSC) for visual situational awareness on resource-constrained edge devices. The core idea is to maintain persistent semantic metadata in two latent canvases - a slowly accumulating…

Semantic Scene Completion (SSC) aims to infer complete 3D geometry and semantics from monocular images, serving as a crucial capability for camera-based perception in autonomous driving. However, existing SSC methods relying on temporal…

We propose Panoptic Lifting, a novel approach for learning panoptic 3D volumetric representations from images of in-the-wild scenes. Once trained, our model can render color images together with 3D-consistent panoptic segmentation from…

Panoptic Segmentation aims to provide an understanding of background (stuff) and instances of objects (things) at a pixel level. It combines the separate tasks of semantic segmentation (pixel level classification) and instance segmentation…

LiDAR-based 3D occupancy prediction evolved rapidly alongside the emergence of large datasets. Nevertheless, the potential of existing diverse datasets remains underutilized as they kick in individually. Models trained on a specific dataset…

The majority of visual SLAM systems are not robust in dynamic scenarios. The ones that deal with dynamic objects in the scenes usually rely on deep-learning-based methods to detect and filter these objects. However, these methods cannot…

This paper introduces VLMFusionOcc3D, a robust multimodal framework for dense 3D semantic occupancy prediction in autonomous driving. Current voxel-based occupancy models often struggle with semantic ambiguity in sparse geometric grids and…

This paper describes a fast and accurate semantic image segmentation approach that encodes not only the discriminative features from deep neural networks, but also the high-order context compatibility among adjacent objects as well as low…

The goal of the Semantic Scene Completion (SSC) task is to simultaneously predict a completed 3D voxel representation of volumetric occupancy and semantic labels of objects in the scene from a single-view observation. Since the…

Visual-based 3D semantic occupancy perception is a key technology for robotics, including autonomous vehicles, offering an enhanced understanding of the environment by 3D. This approach, however, typically requires more computational…