相关论文: DAOcc: 3D Object Detection Assisted Multi-Sensor F…
Vision-based 3D semantic occupancy prediction is vital for autonomous driving, enabling unified modeling of static infrastructure and dynamic agents. Global occupancy maps serve as long-term memory priors, providing valuable historical…
Understanding how the surrounding environment changes is crucial for performing downstream tasks safely and reliably in autonomous driving applications. Recent occupancy estimation techniques using only camera images as input can provide…
Occupancy prediction plays a pivotal role in autonomous driving (AD) due to the fine-grained geometric perception and general object recognition capabilities. However, existing methods often incur high computational costs, which contradicts…
3D object detection and occupancy prediction are critical tasks in autonomous driving, attracting significant attention. Despite the potential of recent vision-based methods, they encounter challenges under adverse conditions. Thus,…
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…
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…
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…
Collaborative perception in automated vehicles leverages the exchange of information between agents, aiming to elevate perception results. Previous camera-based collaborative 3D perception methods typically employ 3D bounding boxes or…
Addressing the task of 3D semantic occupancy prediction for autonomous driving, we tackle two key issues in existing 3D Gaussian Splatting (3DGS) methods: (1) unified feature aggregation neglecting semantic correlations among similar…
3D semantic occupancy prediction aims to forecast detailed geometric and semantic information of the surrounding environment for autonomous vehicles (AVs) using onboard surround-view cameras. Existing methods primarily focus on intricate…
3D occupancy perception holds a pivotal role in recent vision-centric autonomous driving systems by converting surround-view images into integrated geometric and semantic representations within dense 3D grids. Nevertheless, current models…
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…
While 3D object bounding box (bbox) representation has been widely used in autonomous driving perception, it lacks the ability to capture the precise details of an object's intrinsic geometry. Recently, occupancy has emerged as a promising…
Vision-centric semantic occupancy prediction plays a crucial role in autonomous driving, which requires accurate and reliable predictions from low-cost sensors. Although having notably narrowed the accuracy gap with LiDAR, there is still…
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…
Semantic occupancy prediction enables dense 3D geometric and semantic understanding for autonomous driving. However, existing camera-based approaches implicitly assume complete surround-view observations, an assumption that rarely holds in…
Vision-based 3D occupancy prediction is significantly challenged by the inherent limitations of monocular vision in depth estimation. This paper introduces CVT-Occ, a novel approach that leverages temporal fusion through the geometric…
3D semantic occupancy prediction is a pivotal task in autonomous driving, providing a dense and fine-grained understanding of the surrounding environment, yet single-modality methods face trade-offs between camera semantics and LiDAR…
Existing 3D occupancy networks demand significant hardware resources, hindering the deployment of edge devices. Binarized Neural Networks (BNN) offer substantially reduced computational and memory requirements. However, their performance…
Accurate perception of the dynamic environment is a fundamental task for autonomous driving and robot systems. This paper introduces Let Occ Flow, the first self-supervised work for joint 3D occupancy and occupancy flow prediction using…