相关论文: MambaOcc: Visual State Space Model for BEV-based O…

Robotic perception requires the modeling of both 3D geometry and semantics. Existing methods typically focus on estimating 3D bounding boxes, neglecting finer geometric details and struggling to handle general, out-of-vocabulary objects. 3D…

Semantic segmentation in autonomous driving has been undergoing an evolution from sparse point segmentation to dense voxel segmentation, where the objective is to predict the semantic occupancy of each voxel in the concerned 3D space. The…

Efficient and high-accuracy 3D occupancy prediction is vital for the performance of autonomous driving systems. However, existing methods struggle to balance precision and efficiency: high-accuracy approaches are often hindered by heavy…

3D occupancy prediction provides a comprehensive description of the surrounding scenes and has become an essential task for 3D perception. Most existing methods focus on offline perception from one or a few views and cannot be applied to…

Understanding and reconstructing the 3D world through omnidirectional perception is an inevitable trend in the development of autonomous agents and embodied intelligence. However, existing 3D occupancy prediction methods are constrained by…

Convolutional neural networks (CNN) and Transformers have made impressive progress in the field of remote sensing change detection (CD). However, both architectures have inherent shortcomings: CNN are constrained by a limited receptive…

Convolutional neural networks have primarily led 3D medical image segmentation but may be limited by small receptive fields. Transformer models excel in capturing global relationships through self-attention but are challenged by high…

Recent progress in self- and weakly supervised occupancy estimation has largely relied on 2D projection or rendering-based supervision, which suffers from geometric inconsistencies and severe depth bleeding. We thus introduce ShelfOcc, a…

Human trajectory forecasting is crucial for safe navigation in crowded environments, requiring models that balance accuracy with computational efficiency. Efficiently modeling social interactions is key to performance in dense crowds. Yet,…

Recent Mamba-based image restoration methods have achieved promising results but remain limited by fixed scanning patterns and inefficient feature utilization. Conventional Mamba architectures rely on predetermined paths that cannot adapt…

"This work has been submitted to the lEEE for possible publication. Copyright may be transferred without noticeafter which this version may no longer be accessible." Time series modeling serves as the cornerstone of real-world applications,…

3D semantic occupancy prediction is crucial for finely representing the surrounding environment, which is essential for ensuring the safety in autonomous driving. Existing fusion-based occupancy methods typically involve performing a…

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…

Camera-based 3D semantic occupancy prediction offers an efficient and cost-effective solution for perceiving surrounding scenes in autonomous driving. However, existing works rely on explicit occupancy state inference, leading to numerous…

Transformer-based methods have achieved remarkable performance in event-based object detection, owing to the global modeling ability. However, they neglect the influence of non-event and noisy regions and process them uniformly, leading to…

This study explores replacing Transformers in Visual Language Models (VLMs) with Mamba, a recent structured state space model (SSM) that demonstrates promising performance in sequence modeling. We test models up to 3B parameters under…

Recently the state space models (SSMs) with efficient hardware-aware designs, i.e., the Mamba deep learning model, have shown great potential for long sequence modeling. Meanwhile building efficient and generic vision backbones purely upon…

Autonomous driving requires efficient reasoning about the location and appearance of the different agents in the scene, which aids in downstream tasks such as object detection, object tracking, and path planning. The past few years have…

Camera-based occupancy prediction is a mainstream approach for 3D perception in autonomous driving, aiming to infer complete 3D scene geometry and semantics from 2D images. Almost existing methods focus on improving performance through…

Vision Mamba has emerged as a promising and efficient alternative to Vision Transformers, yet its efficiency remains fundamentally constrained by the number of input tokens. Existing token reduction approaches typically adopt token pruning…