相关论文: GaussianAD: Gaussian-Centric End-to-End Autonomous…

End-to-End paradigms use a unified framework to implement multi-tasks in an autonomous driving system. Despite simplicity and clarity, the performance of end-to-end autonomous driving methods on sub-tasks is still far behind the single-task…

In recent years, vision-based end-to-end autonomous driving has emerged as a new paradigm. However, popular end-to-end approaches typically rely on visual feature extraction networks trained under label supervision. This limited supervision…

In this paper, we introduce the first large-scale video prediction model in the autonomous driving discipline. To eliminate the restriction of high-cost data collection and empower the generalization ability of our model, we acquire massive…

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 fundamental for spatial understanding, yet existing approaches face challenges in scalability and generalization due to their reliance on extensive labeled data and computationally intensive voxel-wise…

Realistic scene reconstruction and view synthesis are essential for advancing autonomous driving systems by simulating safety-critical scenarios. 3D Gaussian Splatting excels in real-time rendering and static scene reconstructions but…

3D semantic occupancy prediction is crucial for autonomous driving. While multi-modal fusion improves accuracy over vision-only methods, it typically relies on computationally expensive dense voxel or BEV tensors. We present Gau-Occ, a…

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…

Occupancy prediction infers fine-grained 3D geometry and semantics from camera images of the surrounding environment, making it a critical perception task for autonomous driving. Existing methods either adopt dense grids as scene…

Human drivers rely on commonsense reasoning to navigate diverse and dynamic real-world scenarios. Existing end-to-end (E2E) autonomous driving (AD) models are typically optimized to mimic driving patterns observed in data, without capturing…

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)…

Real-time rendering of human head avatars is a cornerstone of many computer graphics applications, such as augmented reality, video games, and films, to name a few. Recent approaches address this challenge with computationally efficient…

Self-supervised pre-training based on next-token prediction has enabled large language models to capture the underlying structure of text, and has led to unprecedented performance on a large array of tasks when applied at scale. Similarly,…

Autonomous driving is a challenging task that requires perceiving and understanding the surrounding environment for safe trajectory planning. While existing vision-based end-to-end models have achieved promising results, these methods are…

The sparse object detection paradigm shift towards dense 3D semantic occupancy prediction is necessary for dealing with long-tail safety challenges for autonomous vehicles. Nonetheless, the current voxelization methods commonly suffer from…

Understanding the 3D geometry and semantics of driving scenes is critical for safe autonomous driving. Recent advances in 3D occupancy prediction have improved scene representation but often suffer from visual inconsistencies, leading to…

End-to-end autonomous driving, which bypasses traditional modular pipelines by directly predicting future trajectories from sensor inputs, has recently achieved substantial progress. However, existing methods often overlook the causal…

Vision-language navigation (VLN) requires an agent to traverse complex 3D environments based on natural language instructions, necessitating a thorough scene understanding. While existing works equip agents with various scene…

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 propose DrivingForward, a feed-forward Gaussian Splatting model that reconstructs driving scenes from flexible surround-view input. Driving scene images from vehicle-mounted cameras are typically sparse, with limited overlap, and the…