相关论文: ReliOcc: Towards Reliable Semantic Occupancy Predi…

Developing 3D semantic occupancy prediction models often relies on dense 3D annotations for supervised learning, a process that is both labor and resource-intensive, underscoring the need for label-efficient or even label-free approaches.…

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…

Accurate 3D perception is essential for understanding the environment in autonomous driving. Recent advancements in 3D semantic occupancy prediction have leveraged camera-LiDAR fusion to improve robustness and accuracy. However, current…

3D semantic occupancy prediction is a pivotal task in the field of autonomous driving. Recent approaches have made great advances in 3D semantic occupancy predictions on a single modality. However, multi-modal semantic occupancy prediction…

We introduce UniOcc, a comprehensive, unified benchmark and toolkit for occupancy forecasting (i.e., predicting future occupancies based on historical information) and occupancy prediction (i.e., predicting current-frame occupancy from…

Autonomous driving requires forecasting both geometry and semantics over time to effectively reason about future environment states. Existing vision-based occupancy forecasting methods focus on motion-related categories such as static and…

Vision-based 3D occupancy prediction has made significant advancements, but its reliance on cameras alone struggles in challenging environments. This limitation has driven the adoption of sensor fusion, among which camera-radar fusion…

The 3D occupancy estimation task has become an important challenge in the area of vision-based autonomous driving recently. However, most existing camera-based methods rely on costly 3D voxel labels or LiDAR scans for training, limiting…

As a novel 3D scene representation, semantic occupancy has gained much attention in autonomous driving. However, existing occupancy prediction methods mainly focus on designing better occupancy representations, such as tri-perspective view…

Learning 3D scene geometry and semantics from images is a core challenge in computer vision and a key capability for autonomous driving. Since large-scale 3D annotation is prohibitively expensive, recent work explores self-supervised…

3D semantic occupancy prediction is an essential part of autonomous driving, focusing on capturing the geometric details of scenes. Off-road environments are rich in geometric information, therefore it is suitable for 3D semantic occupancy…

3D occupancy prediction holds significant promise in the fields of robot perception and autonomous driving, which quantifies 3D scenes into grid cells with semantic labels. Recent works mainly utilize complete occupancy labels in 3D voxel…

Monocular Semantic Occupancy Prediction aims to infer the complete 3D geometry and semantic information of scenes from only 2D images. It has garnered significant attention, particularly due to its potential to enhance the 3D perception of…

Robust 3D occupancy prediction is essential for autonomous driving, particularly under adverse weather conditions where traditional vision-only systems struggle. While the fusion of surround-view 4D radar and cameras offers a promising…

In this technical report, we present our solution, named UniOCC, for the Vision-Centric 3D occupancy prediction track in the nuScenes Open Dataset Challenge at CVPR 2023. Existing methods for occupancy prediction primarily focus on…

Autonomous driving requires robust perception across diverse environmental conditions, yet 3D semantic occupancy prediction remains challenging under adverse weather and lighting. In this work, we present the first study combining 4D radar…

3D semantic occupancy prediction has emerged as a critical perception task for autonomous driving due to its ability to offer voxel-level semantic and geometric understanding of the environment. However, such a refined representation for…

3D semantic occupancy prediction is one of the crucial tasks of autonomous driving. It enables precise and safe interpretation and navigation in complex environments. Reliable predictions rely on effective sensor fusion, as different…

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…

3D semantic occupancy prediction, which seeks to provide accurate and comprehensive representations of environment scenes, is important to autonomous driving systems. For autonomous cars equipped with multi-camera and LiDAR, it is critical…