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

Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…

Comprehensive and consistent dynamic scene understanding from camera input is essential for advanced autonomous systems. Traditional camera-based perception tasks like 3D object tracking and semantic occupancy prediction lack either spatial…

Existing vision-based 3D occupancy prediction methods are inherently limited in accuracy due to their exclusive reliance on street-view imagery, neglecting the potential benefits of incorporating satellite views. We propose SA-Occ, the…

3D occupancy-based perception pipeline has significantly advanced autonomous driving by capturing detailed scene descriptions and demonstrating strong generalizability across various object categories and shapes. Current methods…

To automatically localize a target object in an image is crucial for many computer vision applications. To represent the 2D object, ellipse labels have recently been identified as a promising alternative to axis-aligned bounding boxes. This…

We propose embodied scene-aware human pose estimation where we estimate 3D poses based on a simulated agent's proprioception and scene awareness, along with external third-person observations. Unlike prior methods that often resort to…

The resolution of voxel queries significantly influences the quality of view transformation in camera-based 3D occupancy prediction. However, computational constraints and the practical necessity for real-time deployment require smaller…

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…

Occupancy prediction has increasingly garnered attention in recent years for its fine-grained understanding of 3D scenes. Traditional approaches typically rely on dense, regular grid representations, which often leads to excessive…

3D occupancy prediction plays a pivotal role in the realm of autonomous driving, as it provides a comprehensive understanding of the driving environment. Most existing methods construct dense scene representations for occupancy prediction,…

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…

While current visual captioning models have achieved impressive performance, they often assume that the image is well-captured and provides a complete view of the scene. In real-world scenarios, however, a single image may not offer a good…

State-of-the-art navigation methods leverage a spatial memory to generalize to new environments, but their occupancy maps are limited to capturing the geometric structures directly observed by the agent. We propose occupancy anticipation,…

Vision-based autonomous driving shows great potential due to its satisfactory performance and low costs. Most existing methods adopt dense representations (e.g., bird's eye view) or sparse representations (e.g., instance boxes) for…

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 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…

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…

We introduce environment predictive coding, a self-supervised approach to learn environment-level representations for embodied agents. In contrast to prior work on self-supervised learning for images, we aim to jointly encode a series of…

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…

Addressing the task of 3D semantic occupancy prediction for autonomous driving, we tackle two key issues in existing 3D Gaussian Splatting (3DGS) methods: (1) unified feature aggregation neglecting semantic correlations among similar…