相关论文: Development of Occupancy Prediction Algorithm for …

A comprehensive understanding of 3D scenes is essential for autonomous vehicles (AVs), and among various perception tasks, occupancy estimation plays a central role by providing a general representation of drivable and occupied space.…

Lane detection is an essential part of the perception sub-architecture of any automated driving (AD) or advanced driver assistance system (ADAS). When focusing on low-cost, large scale products for automated driving, model-driven approaches…

3D occupancy prediction has recently emerged as a new paradigm for holistic 3D scene understanding and provides valuable information for downstream planning in autonomous driving. Most existing methods, however, are computationally…

Computer vision-based parking lot management methods have been extensively researched upon owing to their flexibility and cost-effectiveness. To evaluate such methods authors often employ publicly available parking lot image datasets. In…

One of the main challenges in developing autonomous transport systems based on connected and automated vehicles is the comprehension and understanding of the environment around each vehicle. In many situations, the understanding is limited…

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…

Autonomous valet parking is a specific application for autonomous vehicles. In this task, vehicles need to navigate in narrow, crowded and GPS-denied parking lots. Accurate localization ability is of great importance. Traditional…

Open-world 3D semantic occupancy prediction aims to generate a voxelized 3D representation from sensor inputs while recognizing both known and unknown objects. Transferring open-vocabulary knowledge from vision-language models (VLMs) offers…

The vision-based perception for autonomous driving has undergone a transformation from the bird-eye-view (BEV) representations to the 3D semantic occupancy. Compared with the BEV planes, the 3D semantic occupancy further provides structural…

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…

This paper addresses the problem of autonomous robotic inspection in complex and unknown environments. This capability is crucial for efficient and precise inspections in various real-world scenarios, even when faced with perceptual…

In the realm of autonomous vehicle perception, comprehending 3D scenes is paramount for tasks such as planning and mapping. Camera-based 3D Semantic Occupancy Prediction (OCC) aims to infer scene geometry and semantics from limited…

Predicting the future occupancy state of an environment is important to enable informed decisions for autonomous vehicles. Common challenges in occupancy prediction include vanishing dynamic objects and blurred predictions, especially for…

Autonomous vehicles rely extensively on perception systems to navigate and interpret their surroundings. Despite significant advancements in these systems recently, challenges persist under conditions like occlusion, extreme lighting, or in…

This paper presents a method to predict the evolution of a complex traffic scenario with multiple objects. The current state of the scenario is assumed to be known from sensors and the prediction is taking into account various hypotheses…

Parking demand forecasting and behaviour analysis have received increasing attention in recent years because of their critical role in mitigating traffic congestion and understanding travel behaviours. However, previous studies usually only…

Most prior motion prediction endeavors in autonomous driving have inadequately encoded future scenarios, leading to predictions that may fail to accurately capture the diverse movements of agents (e.g., vehicles or pedestrians). To address…

The localization of self-driving cars is needed for several tasks such as keeping maps updated, tracking objects, and planning. Localization algorithms often take advantage of maps for estimating the car pose. Since maintaining and using…

Occupancy prediction tasks focus on the inference of both geometry and semantic labels for each voxel, which is an important perception mission. However, it is still a semantic segmentation task without distinguishing various instances.…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…