相关论文: TEOcc: Radar-camera Multi-modal Occupancy Predicti…

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…

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…

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…

The task of occupancy forecasting (OCF) involves utilizing past and present perception data to predict future occupancy states of autonomous vehicle surrounding environments, which is critical for downstream tasks such as obstacle avoidance…

Dense 3D semantic occupancy perception is critical for mobile robots operating in pedestrian-rich environments, yet it remains underexplored compared to its application in autonomous driving. To address this gap, we present MobileOcc, a…

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…

Semantic Scene Completion (SSC) is pivotal in autonomous driving perception, frequently confronted with the complexities of weather and illumination changes. The long-term strategy involves fusing multi-modal information to bolster the…

Semantic occupancy has recently gained significant traction as a prominent 3D scene representation. However, most existing methods rely on large and costly datasets with fine-grained 3D voxel labels for training, which limits their…

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…

Self-supervised 3D occupancy prediction offers a promising solution for understanding complex driving scenes without requiring costly 3D annotations. However, training dense occupancy decoders to capture fine-grained geometry and semantics…

Existing vision-based 3D occupancy prediction methods are inherently limited in accuracy due to their exclusive reliance on street-view imagery, neglecting the potential benefits of incorporating satellite views. We propose SA-Occ, the…

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…

Comprehensive modeling of the surrounding 3D world is key to the success of autonomous driving. However, existing perception tasks like object detection, road structure segmentation, depth & elevation estimation, and open-set object…

Crucial for autonomous exploration, online 3D occupancy prediction and mapping incrementally constructs dense spatial representations on the fly. However, recent Gaussian-centric methods struggle with structural boundary fidelity and rely…

Given the capability of mitigating the long-tail deficiencies and intricate-shaped absence prevalent in 3D object detection, occupancy prediction has become a pivotal component in autonomous driving systems. However, the procession of…

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…

LiDAR-based 3D occupancy prediction evolved rapidly alongside the emergence of large datasets. Nevertheless, the potential of existing diverse datasets remains underutilized as they kick in individually. Models trained on a specific dataset…

3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception. Existing methods based on 3D Gaussians instead of dense…

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…

3D semantic occupancy prediction is crucial for autonomous driving perception, offering comprehensive geometric scene understanding and semantic recognition. However, existing methods struggle with geometric misalignment in view…