相关论文: EmbodiedOcc: Embodied 3D Occupancy Prediction for …

We introduce ShelfGaussian, an open-vocabulary multi-modal Gaussian-based 3D scene understanding framework supervised by off-the-shelf vision foundation models (VFMs). Gaussian-based methods have demonstrated superior performance and…

Autonomous navigation and exploration in unmapped environments remains a significant challenge in robotics due to the difficulty robots face in making commonsense inference of unobserved geometries. Recent advancements have demonstrated…

Panoramic imagery provides holistic 360{\deg} visual coverage for perception in quadruped robots. However, existing occupancy prediction methods are mainly designed for wheeled autonomous driving and rely heavily on RGB cues, limiting their…

Embodied artificial intelligence emphasizes the role of an agent's body in generating human-like behaviors. The recent efforts on EmbodiedAI pay a lot of attention to building up machine learning models to possess perceiving, planning, and…

Compared with voxel-based grid prediction, in the field of 3D semantic occupation prediction for autonomous driving, GaussianFormer proposed using 3D Gaussian to describe scenes with sparse 3D semantic Gaussian based on objects is another…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

Semantic occupancy prediction enables dense 3D geometric and semantic understanding for autonomous driving. However, existing camera-based approaches implicitly assume complete surround-view observations, an assumption that rarely holds in…

In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…

It has always been expected that a robot can be easily deployed to unknown scenarios, accomplishing robotic grasping tasks without human intervention. Nevertheless, existing grasp detection approaches are typically off-body techniques and…

Self-supervision for semantic occupancy estimation is appealing as it removes the labour-intensive manual annotation, thus allowing one to scale to larger autonomous driving datasets. Superquadrics offer an expressive shape family very…

Monocular 3D detection is a challenging task due to the lack of accurate 3D information. Existing approaches typically rely on geometry constraints and dense depth estimates to facilitate the learning, but often fail to fully exploit the…

The past few years have witnessed the rapid development of vision-centric 3D perception in autonomous driving. Although the 3D perception models share many structural and conceptual similarities, there still exist gaps in their feature…

3D semantic occupancy prediction is crucial for autonomous driving, providing a dense, semantically rich environmental representation. However, existing methods focus on in-distribution scenes, making them susceptible to Out-of-Distribution…

Scene completion and forecasting are two popular perception problems in research for mobile agents like autonomous vehicles. Existing approaches treat the two problems in isolation, resulting in a separate perception of the two aspects. In…

To fully understand the 3D context of a single image, a visual system must be able to segment both the visible and occluded regions of objects, while discerning their occlusion order. Ideally, the system should be able to handle any object…

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…

Despite the demonstrated efficiency and performance of sparse query-based representations for perception, state-of-the-art 3D occupancy prediction methods still rely on voxel-based or dense Gaussian-based 3D representations. However, dense…

Accurate 6D object pose estimation is a fundamental capability for embodied agents, yet remains highly challenging in open-world environments. Many existing methods often rely on closed-set assumptions or geometry-agnostic regression…

Recent works on 3D scene understanding leverage 2D masks from visual foundation models (VFMs) to supervise radiance fields, enabling instance-level 3D segmentation. However, the supervision signals from foundation models are not…

Embodied 3D Semantic Scene Completion (SSC) infers dense geometry and semantics from continuous egocentric observations. Most existing Gaussian-based methods rely on random initialization of many primitives within predefined spatial bounds,…