相关论文: OccScene: Semantic Occupancy-based Cross-task Mutu…

Remote telepresence via next-generation mixed reality platforms can provide higher levels of immersion for computer-mediated communications, allowing participants to engage in a wide spectrum of activities, previously not possible in 2D…

Vision-based 3D semantic scene completion (SSC) describes autonomous driving scenes through 3D volume representations. However, the occlusion of invisible voxels by scene surfaces poses challenges to current SSC methods in hallucinating…

We present GuidedSceneGen, a text-to-3D generation framework that produces metrically accurate, globally consistent, and semantically interpretable indoor scenes. Unlike prior text-driven methods that often suffer from geometric drift or…

As two intimate reciprocal tasks, scene-aware human motion synthesis and analysis require a joint understanding between multiple modalities, including 3D body motions, 3D scenes, and textual descriptions. In this paper, we integrate these…

A major challenge in reconstructing buildings from LiDAR point clouds lies in accurately capturing building surfaces under varying point densities and noise interference. To flexibly gather high-quality 3D profiles of the building in…

Generative models have shown substantial impact across multiple domains, their potential for scene synthesis remains underexplored in robotics. This gap is more evident in drone simulators, where simulation environments still rely heavily…

In large-scale scene reconstruction using 3D Gaussian splatting, it is common to partition the scene into multiple smaller regions and reconstruct them individually. However, existing division methods are occlusion-agnostic, meaning that…

Vision-based 3D semantic occupancy prediction is a critical task in 3D vision that integrates volumetric 3D reconstruction with semantic understanding. Existing methods, however, often rely on modular pipelines. These modules are typically…

Generative world models increasingly rely on 4D occupancy for realistic autonomous driving simulation. However, existing generation frameworks depend on rigid geometric conditions (e.g., explicit trajectories) or simplistic attribute-level…

Autonomous driving perception faces significant challenges due to occlusions and incomplete scene data in the environment. To overcome these issues, the task of semantic occupancy prediction (SOP) is proposed, which aims to jointly infer…

3D semantic occupancy has rapidly become a research focus in the fields of robotics and autonomous driving environment perception due to its ability to provide more realistic geometric perception and its closer integration with downstream…

This paper reports on a dynamic semantic mapping framework that incorporates 3D scene flow measurements into a closed-form Bayesian inference model. Existence of dynamic objects in the environment can cause artifacts and traces in current…

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…

Diffusion-based methods have achieved remarkable achievements in 2D image or 3D object generation, however, the generation of 3D scenes and even $360^{\circ}$ images remains constrained, due to the limited number of scene datasets, the…

Text-driven image generation using diffusion models has recently gained significant attention. To enable more flexible image manipulation and editing, recent research has expanded from single image generation to transparent layer generation…

Accurate 3D perception is essential for understanding the environment in autonomous driving. Recent advancements in 3D semantic occupancy prediction have leveraged camera-LiDAR fusion to improve robustness and accuracy. However, current…

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…

Open-vocabulary 3D occupancy is vital for embodied agents, which need to understand complex indoor environments where semantic categories are abundant and evolve beyond fixed taxonomies. While recent work has explored open-vocabulary…

Human-scene Interaction (HSI) generation is a challenging task and crucial for various downstream tasks. However, one of the major obstacles is its limited data scale. High-quality data with simultaneously captured human and 3D environments…

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,…