相关论文: ProtoOcc: Accurate, Efficient 3D Occupancy Predict…

In perception for automated vehicles, safety is critical not only for the driver but also for other agents in the scene, particularly vulnerable road users such as pedestrians and cyclists. Previous representation methods, such as Bird's…

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…

Higher-order brain connectivity (HOBC), which captures interactions among three or more brain regions, provides richer organizational information than traditional pairwise functional connectivity (FC). Recent studies have begun to infer…

A real-time semantic 3D occupancy mapping framework is proposed in this paper. The mapping framework is based on the Bayesian kernel inference strategy from the literature. Two novel free space representations are proposed to efficiently…

In autonomous driving, Vision Language Models (VLMs) excel at high-level reasoning , whereas semantic occupancy provides fine-grained details. Despite significant progress in individual fields, there is still no method that can effectively…

Semantic Scene Completion (SSC) constitutes a pivotal element in autonomous driving perception systems, tasked with inferring the 3D semantic occupancy of a scene from sensory data. To improve accuracy, prior research has implemented…

Embodied intelligence requires high-fidelity simulation environments to support perception and decision-making, yet existing platforms often suffer from data contamination and limited flexibility. To mitigate this, we propose…

Understanding how the 3D scene evolves is vital for making decisions in autonomous driving. Most existing methods achieve this by predicting the movements of object boxes, which cannot capture more fine-grained scene information. In this…

In pose estimation for seen objects, a prevalent pipeline involves using neural networks to predict dense 3D coordinates of the object surface on 2D images, which are then used to establish dense 2D-3D correspondences. However, current…

We present SceneTok, a novel tokenizer for encoding view sets of scenes into a compressed and diffusable set of unstructured tokens. Existing approaches for 3D scene representation and generation commonly use 3D data structures or…

Point-cloud-based 3D perception has attracted great attention in various applications including robotics, autonomous driving and AR/VR. In particular, the 3D sparse convolution (SpConv) network has emerged as one of the most popular…

Relying on in-domain annotations and precise sensor-rig priors, existing 3D occupancy prediction methods are limited in both scalability and out-of-domain generalization. While recent visual geometry foundation models exhibit strong…

Understanding world dynamics is crucial for planning in autonomous driving. Recent methods attempt to achieve this by learning a 3D occupancy world model that forecasts future surrounding scenes based on current observation. However, 3D…

3D semantic occupancy prediction aims to obtain 3D fine-grained geometry and semantics of the surrounding scene and is an important task for the robustness of vision-centric autonomous driving. Most existing methods employ dense grids such…

Vision-based bird's-eye-view (BEV) 3D object detection has advanced significantly in autonomous driving by offering cost-effectiveness and rich contextual information. However, existing methods often construct BEV representations by…

In this report, we introduce our solution to the Occupancy and Flow Prediction challenge in the Waymo Open Dataset Challenges at CVPR 2022, which ranks 1st on the leaderboard. We have developed a novel hierarchical spatial-temporal network…

This technical report summarizes the second-place solution for the Predictive World Model Challenge held at the CVPR-2024 Workshop on Foundation Models for Autonomous Systems. We introduce D$^2$-World, a novel World model that effectively…

When exploring new areas, robotic systems generally exclusively plan and execute controls over geometry that has been directly measured. When entering space that was previously obstructed from view such as turning corners in hallways or…

Camera-based 3D semantic scene completion (SSC) plays a crucial role in autonomous driving, enabling voxelized 3D scene understanding for effective scene perception and decision-making. Existing SSC methods have shown efficacy in improving…

Predicting future behaviors of road agents is a key task in autonomous driving. While existing models have demonstrated great success in predicting marginal agent future behaviors, it remains a challenge to efficiently predict consistent…