相关论文: OccRWKV: Rethinking Efficient 3D Semantic Occupanc…
We present Ov3R, a novel framework for open-vocabulary semantic 3D reconstruction from RGB video streams, designed to advance Spatial AI. The system features two key components: CLIP3R, a CLIP-informed 3D reconstruction module that predicts…
Occupancy prediction infers fine-grained 3D geometry and semantics from camera images of the surrounding environment, making it a critical perception task for autonomous driving. Existing methods either adopt dense grids as scene…
3D semantic occupancy prediction requires accurate 2D-to-3D feature lifting, yet current methods restrict camera geometry to initial projections. Subsequent operations like offset learning, attention weighting, and cross-camera aggregation…
Semantic segmentation is a fundamental task in visual scene understanding. We focus on the supervised setting, where ground-truth semantic annotations are available. Based on knowledge about the high regularity of real-world scenes, we…
Traditional Transformers face a major bottleneck in long-sequence time series forecasting due to their quadratic complexity $(\mathcal{O}(T^2))$ and their limited ability to effectively exploit frequency-domain information. Inspired by…
Learning a single static convolutional kernel in each convolutional layer is the common training paradigm of modern Convolutional Neural Networks (CNNs). Instead, recent research in dynamic convolution shows that learning a linear…
The development of Neural Radiance Fields (NeRFs) has provided a potent representation for encapsulating the geometric and appearance characteristics of 3D scenes. Enhancing the capabilities of NeRFs in open-vocabulary 3D semantic…
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…
The expanding long-context capabilities of large language models are constrained by a significant memory bottleneck: the key-value (KV) cache required for autoregressive generation. This bottleneck is substantial; for instance, a…
Introducing object-level semantic information into simultaneous localization and mapping (SLAM) system is critical. It not only improves the performance but also enables tasks specified in terms of meaningful objects. This work presents…
While distributed device-edge speculative decoding enhances resource utilization across heterogeneous nodes, its performance is often bottlenecked by conventional token-level verification strategies. Such rigid alignment leads to excessive…
Estimating the 3D world from 2D monocular images is a fundamental yet challenging task due to the labour-intensive nature of 3D annotations. To simplify label acquisition, this work proposes a novel approach that bridges 2D vision…
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…
Monocular 3D occupancy prediction, aiming to predict the occupancy and semantics within interesting regions of 3D scenes from only 2D images, has garnered increasing attention recently for its vital role in 3D scene understanding.…
Understanding the world around us and making decisions about the future is a critical component to human intelligence. As autonomous systems continue to develop, their ability to reason about the future will be the key to their success.…
Image matching is a fundamental and critical task in various visual applications, such as Simultaneous Localization and Mapping (SLAM) and image retrieval, which require accurate pose estimation. However, most existing methods ignore the…
Binary Neural Networks~(BNNs) have been proven to be highly effective for deploying deep neural networks on mobile and embedded platforms. Most existing works focus on minimizing quantization errors, improving representation ability, or…
In this paper, we propose OccTENS, a generative occupancy world model that enables controllable, high-fidelity long-term occupancy generation while maintaining computational efficiency. Different from visual generation, the occupancy world…
3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…
The completion, extension, and generation of 3D semantic scenes are an interrelated set of capabilities that are useful for robotic navigation and exploration. Existing approaches seek to decouple these problems and solve them one-off.…