相关论文: ALOcc: Adaptive Lifting-Based 3D Semantic Occupanc…

In this report, we present the 4th place solution for CVPR 2023 3D occupancy prediction challenge. We propose a simple method called Multi-Scale Occ for occupancy prediction based on lift-splat-shoot framework, which introduces multi-scale…

In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…

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…

We present GDFusion, a temporal fusion method for vision-based 3D semantic occupancy prediction (VisionOcc). GDFusion opens up the underexplored aspects of temporal fusion within the VisionOcc framework, focusing on both temporal cues and…

3D Panoptic Occupancy Prediction aims to reconstruct a dense volumetric scene map by predicting the semantic class and instance identity of every occupied region in 3D space. Achieving such fine-grained 3D understanding requires precise…

In autonomous driving, Vision Language Models (VLMs) excel at high-level reasoning , whereas semantic occupancy provides fine-grained details. Despite significant progress in individual fields, there is still no method that can effectively…

The lack of a large-scale 3D-text corpus has led recent works to distill open-vocabulary knowledge from vision-language models (VLMs). However, these methods typically rely on a single VLM to align the feature spaces of 3D models within a…

Open-world instance-level scene understanding aims to locate and recognize unseen object categories that are not present in the annotated dataset. This task is challenging because the model needs to both localize novel 3D objects and infer…

Occupancy is crucial for autonomous driving, providing essential geometric priors for perception and planning. However, existing methods predominantly rely on LiDAR-based occupancy annotations, which limits scalability and prevents…

Visual simultaneous localization and mapping (SLAM) systems face challenges in detecting loop closure under the circumstance of large viewpoint changes. In this paper, we present an object-based loop closure detection method based on the…

Many existing autonomous driving paradigms involve a multi-stage discrete pipeline of tasks. To better predict the control signals and enhance user safety, an end-to-end approach that benefits from joint spatial-temporal feature learning is…

Semantic occupancy perception is essential for autonomous driving, as automated vehicles require a fine-grained perception of the 3D urban structures. However, existing relevant benchmarks lack diversity in urban scenes, and they only…

Despite the remarkable success of large-scale pre-trained image representation models (i.e., vision encoders) across various vision tasks, they are predominantly trained on 2D image data and therefore often fail to capture 3D spatial…

3D scene flow estimation is a vital tool in perceiving our environment given depth or range sensors. Unlike optical flow, the data is usually sparse and in most cases partially occluded in between two temporal samplings. Here we propose a…

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…

Reliable pose estimation in previously unseen environments is a fundamental capability of autonomous systems. Existing LiDAR odometry methods typically employ point-, surfel-, or NDT-based map representations, which are distinct from the…

Recent advancements in camera-based occupancy prediction have focused on the simultaneous prediction of 3D semantics and scene flow, a task that presents significant challenges due to specific difficulties, e.g., occlusions and unbalanced…

3D semantic occupancy prediction aims to obtain 3D fine-grained geometry and semantics of the surrounding scene and is an important task for the robustness of vision-centric autonomous driving. Most existing methods employ dense grids such…

Semantic segmentation and activity classification are key components to creating intelligent surgical systems able to understand and assist clinical workflow. In the Operating Room, semantic segmentation is at the core of creating robots…

As a voxel-wise labeling task, semantic scene completion (SSC) tries to simultaneously infer the occupancy and semantic labels for a scene from a single depth and/or RGB image. The key challenge for SSC is how to effectively take advantage…