相关论文: MetaSSC: Enhancing 3D Semantic Scene Completion fo…

Scene flow estimation aims to predict 3D motion from consecutive point cloud frames, which is of great interest in autonomous driving field. Existing methods face challenges such as insufficient spatio-temporal modeling and inherent loss of…

Indoor monocular semantic scene completion (MSSC) is notably more challenging than its outdoor counterpart due to complex spatial layouts and severe occlusions. While transformers are well suited for modeling global dependencies, their high…

Semantic Scene Completion aims at reconstructing a complete 3D scene with precise voxel-wise semantics from a single-view depth or RGBD image. It is a crucial but challenging problem for indoor scene understanding. In this work, we present…

We introduce Spatial Group Convolution (SGC) for accelerating the computation of 3D dense prediction tasks. SGC is orthogonal to group convolution, which works on spatial dimensions rather than feature channel dimension. It divides input…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

Camera-based 3D semantic scene completion (SSC) is pivotal for predicting complicated 3D layouts with limited 2D image observations. The existing mainstream solutions generally leverage temporal information by roughly stacking history…

3D Semantic Scene Completion (SSC) can provide dense geometric and semantic scene representations, which can be applied in the field of autonomous driving and robotic systems. It is challenging to estimate the complete geometry and…

Reliable 3D object detection is fundamental to autonomous driving, and multimodal fusion algorithms using cameras and LiDAR remain a persistent challenge. Cameras provide dense visual cues but ill posed depth; LiDAR provides a precise 3D…

Semantic Scene Completion (SSC) aims to simultaneously predict the volumetric occupancy and semantic category of a 3D scene. In this paper, we propose a real-time semantic scene completion method with a feature aggregation strategy and…

Robust feature representations are essential for learning-based Multi-View Stereo (MVS), which relies on accurate feature matching. Recent MVS methods leverage Transformers to capture long-range dependencies based on local features…

Semantic Scene Completion (SSC) is essential for 3D perception in mobile robotics, as it enables holistic scene understanding by jointly estimating dense volumetric occupancy and per-voxel semantics. Although SSC has been widely studied in…

Trajectory prediction in autonomous driving relies on accurate representation of all relevant contexts of the driving scene, including traffic participants, road topology, traffic signs, as well as their semantic relations to each other.…

Sequence modeling plays a vital role across various domains, with recurrent neural networks being historically the predominant method of performing these tasks. However, the emergence of transformers has altered this paradigm due to their…

Recent advances in Vision Transformers (ViTs) and State Space Models (SSMs) have challenged the dominance of Convolutional Neural Networks (CNNs) in computer vision. ViTs excel at capturing global context, and SSMs like Mamba offer linear…

Mamba, with its selective State Space Models (SSMs), offers a more computationally efficient solution than Transformers for long-range dependency modeling. However, there is still a debate about its effectiveness in high-resolution 3D…

Autonomous vehicles demand detailed maps to maneuver reliably through traffic, which need to be kept up-to-date to ensure a safe operation. A promising way to adapt the maps to the ever-changing road-network is to use crowd-sourced data…

Focusing on the task of point-to-point navigation for an autonomous driving vehicle, we propose a novel deep learning model trained with end-to-end and multi-task learning manners to perform both perception and control tasks simultaneously.…

3D environment recognition is essential for autonomous driving systems, as autonomous vehicles require a comprehensive understanding of surrounding scenes. Recently, the predominant approach to define this real-life problem is through 3D…

Although traffic sign detection has been studied for years and great progress has been made with the rise of deep learning technique, there are still many problems remaining to be addressed. For complicated real-world traffic scenes, there…

Accurate 3D medical image segmentation demands architectures capable of reconciling global context modeling with spatial topology preservation. While State Space Models (SSMs) like Mamba show potential for sequence modeling, existing…