相关论文: LangOcc: Self-Supervised Open Vocabulary Occupancy…

Open-vocabulary scene understanding aims to localize and recognize unseen categories beyond the annotated label space. The recent breakthrough of 2D open-vocabulary perception is largely driven by Internet-scale paired image-text data with…

It is widely agreed that open-vocabulary-based approaches outperform classical closed-set training solutions for recognizing unseen objects in images for semantic segmentation. Existing open-vocabulary approaches leverage vision-language…

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…

Open-Vocabulary Semantic Segmentation (OVSS) assigns pixel-level labels from an open set of text-defined categories, demanding reliable generalization to unseen classes at inference. Although modern vision-language models (VLMs) support…

In this paper, we introduce ProtoOcc, a novel 3D occupancy prediction model designed to predict the occupancy states and semantic classes of 3D voxels through a deep semantic understanding of scenes. ProtoOcc consists of two main…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

Occupancy prediction, aiming at predicting the occupancy status within voxelized 3D environment, is quickly gaining momentum within the autonomous driving community. Mainstream occupancy prediction works first discretize the 3D environment…

Modern 3D object detection datasets are constrained by narrow class taxonomies and costly manual annotations, limiting their ability to scale to open-world settings. In contrast, 2D vision-language models trained on web-scale image-text…

Self-Supervised Learning (SSL) has demonstrated promising results in 3D medical image analysis. However, the lack of high-level semantics in pre-training still heavily hinders the performance of downstream tasks. We observe that 3D medical…

In this technical report, we present our solution for the Vision-Centric 3D Occupancy and Flow Prediction track in the nuScenes Open-Occ Dataset Challenge at CVPR 2024. Our innovative approach involves a dual-stage framework that enhances…

This paper studies a new open-set problem, the open-vocabulary category-level object pose and size estimation. Given human text descriptions of arbitrary novel object categories, the robot agent seeks to predict the position, orientation,…

The task of occupancy forecasting (OCF) involves utilizing past and present perception data to predict future occupancy states of autonomous vehicle surrounding environments, which is critical for downstream tasks such as obstacle avoidance…

This paper addresses the challenging problem of open-vocabulary object detection (OVOD) where an object detector must identify both seen and unseen classes in test images without labeled examples of the unseen classes in training. A typical…

Recently, the emergence of the large-scale vision-language model (VLM), such as CLIP, has opened the way towards open-world object perception. Many works have explored the utilization of pre-trained VLM for the challenging open-vocabulary…

The field of autonomous driving is experiencing a surge of interest in world models, which aim to predict potential future scenarios based on historical observations. In this paper, we introduce DFIT-OccWorld, an efficient 3D occupancy…

The ability to interpret and comprehend a 3D scene is essential for many vision and robotics systems. In numerous applications, this involves 3D object detection, i.e.~identifying the location and dimensions of objects belonging to a…

Open-vocabulary semantic segmentation (OVSS) extends traditional closed-set segmentation by enabling pixel-wise annotation for both seen and unseen categories using arbitrary textual descriptions. While existing methods leverage…

Existing object detection methods are bounded in a fixed-set vocabulary by costly labeled data. When dealing with novel categories, the model has to be retrained with more bounding box annotations. Natural language supervision is an…

This paper presents a novel training-free framework for open-vocabulary image segmentation and object recognition (OVSR), which leverages EfficientNetB0, a convolutional neural network, for unsupervised segmentation and CLIP, a…

Understanding how the 3D scene evolves is vital for making decisions in autonomous driving. Most existing methods achieve this by predicting the movements of object boxes, which cannot capture more fine-grained scene information. In this…