相关论文: GaussianFormer-2: Probabilistic Gaussian Superposi…

Multi-sensor fusion is crucial for improving the performance and robustness of end-to-end autonomous driving systems. Existing methods predominantly adopt either attention-based flatten fusion or bird's eye view fusion through geometric…

Most of the existing robotic exploration schemes use occupancy grid representations and geometric targets known as frontiers. The occupancy grid representation relies on the assumption of independence between grid cells and ignores…

This paper presents GS-RoadPatching, an inpainting method for driving scene completion by referring to completely reconstructed regions, which are represented by 3D Gaussian Splatting (3DGS). Unlike existing 3DGS inpainting methods that…

Accurate perception of the surrounding environment is essential for safe autonomous driving. 3D occupancy prediction, which estimates detailed 3D structures of roads, buildings, and other objects, is particularly important for…

3D Gaussian Splatting has recently emerged as a highly promising technique for modeling of static 3D scenes. In contrast to Neural Radiance Fields, it utilizes efficient rasterization allowing for very fast rendering at high-quality.…

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…

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 present DrivingGaussian, an efficient and effective framework for surrounding dynamic autonomous driving scenes. For complex scenes with moving objects, we first sequentially and progressively model the static background of the entire…

3D semantic occupancy prediction is crucial for finely representing the surrounding environment, which is essential for ensuring the safety in autonomous driving. Existing fusion-based occupancy methods typically involve performing a…

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…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

Understanding open-vocabulary 3D scenes with Gaussian-based representations remains challenging due to fragmented and spatially inconsistent semantic predictions across multi-view observations. In this paper, we present OpenGaFF, a novel…

Photorealistic 3D reconstruction of street scenes is a critical technique for developing real-world simulators for autonomous driving. Despite the efficacy of Neural Radiance Fields (NeRF) for driving scenes, 3D Gaussian Splatting (3DGS)…

Semantic reconstruction of agricultural scenes plays a vital role in tasks such as phenotyping and yield estimation. However, traditional approaches that rely on manual scanning or fixed camera setups remain a major bottleneck in this…

Modeling and understanding the 3D world is crucial for various applications, from augmented reality to robotic navigation. Recent advancements based on 3D Gaussian Splatting have integrated semantic information from multi-view images into…

We propose NEDS-SLAM, a dense semantic SLAM system based on 3D Gaussian representation, that enables robust 3D semantic mapping, accurate camera tracking, and high-quality rendering in real-time. In the system, we propose a Spatially…

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…

Existing solutions for 3D semantic occupancy prediction typically treat the task as a one-shot 3D voxel-wise segmentation perception problem. These discriminative methods focus on learning the mapping between the inputs and occupancy map in…

Latent scene representation plays a significant role in training reinforcement learning (RL) agents. To obtain good latent vectors describing the scenes, recent works incorporate the 3D-aware latent-conditioned NeRF pipeline into scene…

The prediction of 3D semantic occupancy enables autonomous vehicles (AVs) to perceive the fine-grained geometric and semantic scene structure for safe navigation and decision-making. Existing methods mainly rely on either voxel-based…