相关论文: Robust 3D Semantic Occupancy Prediction with Calib…

Visual Odometry (VO) plays a pivotal role in autonomous systems, with a principal challenge being the lack of depth information in camera images. This paper introduces OCC-VO, a novel framework that capitalizes on recent advances in deep…

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…

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…

In autonomous driving, 3D occupancy prediction outputs voxel-wise status and semantic labels for more comprehensive understandings of 3D scenes compared with traditional perception tasks, such as 3D object detection and bird's-eye view…

3D semantic occupancy and flow prediction are fundamental to spatiotemporal scene understanding. This paper proposes a vision-based framework with three targeted improvements. First, we introduce an occlusion-aware adaptive lifting…

Autonomous driving in complex urban scenarios requires 3D perception to be both comprehensive and precise. Traditional 3D perception methods focus on object detection, resulting in sparse representations that lack environmental detail.…

A comprehensive understanding of 3D scenes is crucial in autonomous vehicles (AVs), and recent models for 3D semantic occupancy prediction have successfully addressed the challenge of describing real-world objects with varied shapes and…

3D occupancy prediction is an important task for the robustness of vision-centric autonomous driving, which aims to predict whether each point is occupied in the surrounding 3D space. Existing methods usually require 3D occupancy labels to…

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…

Perceiving the world as 3D occupancy supports embodied agents to avoid collision with any types of obstacle. While open-vocabulary image understanding has prospered recently, how to bind the predicted 3D occupancy grids with open-world…

3D occupancy prediction based on multi-sensor fusion,crucial for a reliable autonomous driving system, enables fine-grained understanding of 3D scenes. Previous fusion-based 3D occupancy predictions relied on depth estimation for processing…

Semantic segmentation in autonomous driving has been undergoing an evolution from sparse point segmentation to dense voxel segmentation, where the objective is to predict the semantic occupancy of each voxel in the concerned 3D space. The…

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 semantic occupancy prediction networks have demonstrated remarkable capabilities in reconstructing the geometric and semantic structure of 3D scenes, providing crucial information for robot navigation and autonomous driving systems.…

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…

Vision-based 3D occupancy prediction has made significant advancements, but its reliance on cameras alone struggles in challenging environments. This limitation has driven the adoption of sensor fusion, among which camera-radar fusion…

Existing learning-based occupancy prediction methods rely on large-scale 3D annotations and generalize poorly across environments. We present FreeOcc, a training-free framework for open-vocabulary occupancy prediction from monocular or…

Perceiving the world and forecasting its future state is a critical task for self-driving. Supervised approaches leverage annotated object labels to learn a model of the world -- traditionally with object detections and trajectory…

Occupancy prediction, aiming at predicting the occupancy status within voxelized 3D environment, is quickly gaining momentum within the autonomous driving community. Mainstream occupancy prediction works first discretize the 3D environment…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…