相关论文: Language Driven Occupancy Prediction

Semantic occupancy prediction aims to infer dense geometry and semantics of surroundings for an autonomous agent to operate safely in the 3D environment. Existing occupancy prediction methods are almost entirely trained on human-annotated…

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…

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…

Robotic perception requires the modeling of both 3D geometry and semantics. Existing methods typically focus on estimating 3D bounding boxes, neglecting finer geometric details and struggling to handle general, out-of-vocabulary objects. 3D…

Vision-Language Models (VLMs) have shown significant progress in open-set challenges. However, the limited availability of 3D datasets hinders their effective application in 3D scene understanding. We propose LOC, a general language-guided…

We describe an approach to predict open-vocabulary 3D semantic voxel occupancy map from input 2D images with the objective of enabling 3D grounding, segmentation and retrieval of free-form language queries. This is a challenging problem…

Open-world 3D semantic occupancy prediction aims to generate a voxelized 3D representation from sensor inputs while recognizing both known and unknown objects. Transferring open-vocabulary knowledge from vision-language models (VLMs) offers…

Obtaining high-quality 3D semantic occupancy from raw sensor data remains an essential yet challenging task, often requiring extensive manual labeling. In this work, we propose AutoOcc, a vision-centric automated pipeline for open-ended…

Semantic and panoptic occupancy prediction for road scene analysis provides a dense 3D representation of the ego vehicle's surroundings. Current camera-only approaches typically rely on costly dense 3D supervision or require training models…

3D semantic occupancy prediction is a cornerstone of robotic perception, yet real-world voxel annotations are inherently corrupted by structural artifacts and dynamic trailing effects. This raises a critical but underexplored question: can…

3D semantic occupancy prediction offers an intuitive and efficient scene understanding and has attracted significant interest in autonomous driving perception. Existing approaches either rely on full supervision, which demands costly…

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…

Autonomous driving requires forecasting both geometry and semantics over time to effectively reason about future environment states. Existing vision-based occupancy forecasting methods focus on motion-related categories such as static and…

Open-vocabulary 3D occupancy is vital for embodied agents, which need to understand complex indoor environments where semantic categories are abundant and evolve beyond fixed taxonomies. While recent work has explored open-vocabulary…

Visual grounding aims to identify objects or regions in a scene based on natural language descriptions, essential for spatially aware perception in autonomous driving. However, existing visual grounding tasks typically depend on bounding…

Developing 3D semantic occupancy prediction models often relies on dense 3D annotations for supervised learning, a process that is both labor and resource-intensive, underscoring the need for label-efficient or even label-free approaches.…

Camera-based 3D semantic occupancy prediction offers an efficient and cost-effective solution for perceiving surrounding scenes in autonomous driving. However, existing works rely on explicit occupancy state inference, leading to numerous…

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…

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…

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…