相关论文: An Efficient Occupancy World Model via Decoupled D…

Accurate prediction of driving scene is a challenging task due to uncertainty in sensor data, the complex behaviors of agents, and the possibility of multiple feasible futures. Existing prediction methods using occupancy grid maps primarily…

Perceiving the world and forecasting its future state is a critical task for self-driving. Supervised approaches leverage annotated object labels to learn a model of the world -- traditionally with object detections and trajectory…

Optical flow estimation is an essential step for many real-world computer vision tasks. Existing deep networks have achieved satisfactory results by mostly employing a pyramidal coarse-to-fine paradigm, where a key process is to adopt…

To accomplish tasks in human-centric indoor environments, robots need to represent and understand the world in terms of objects and their attributes. We refer to this attribute-based representation as a world model, and consider how to…

This paper investigates training better visual world models for robot manipulation, i.e., models that can predict future visual observations by conditioning on past frames and robot actions. Specifically, we consider world models that…

Tracking body and hand motions in the 3D space is essential for social and self-presence in augmented and virtual environments. Unlike the popular 3D pose estimation setting, the problem is often formulated as inside-out tracking based on…

3D occupancy prediction provides a comprehensive description of the surrounding scenes and has become an essential task for 3D perception. Most existing methods focus on offline perception from one or a few views and cannot be applied to…

3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception. Existing methods based on 3D Gaussians instead of dense…

We introduce OpenVO, a novel framework for Open-world Visual Odometry (VO) with temporal awareness under limited input conditions. OpenVO effectively estimates real-world-scale ego-motion from monocular dashcam footage with varying…

Semantic segmentation in autonomous driving has been undergoing an evolution from sparse point segmentation to dense voxel segmentation, where the objective is to predict the semantic occupancy of each voxel in the concerned 3D space. The…

Camera-based occupancy prediction is a mainstream approach for 3D perception in autonomous driving, aiming to infer complete 3D scene geometry and semantics from 2D images. Almost existing methods focus on improving performance through…

Controllable scene generation could reduce the cost of diverse data collection substantially for autonomous driving. Prior works formulate the traffic layout generation as predictive progress, either by denoising entire sequences at once or…

In the rapidly evolving field of autonomous driving, reliable prediction is pivotal for vehicular safety. However, trajectory predictions often deviate from actual paths, particularly in complex and challenging environments, leading to…

We introduce UniOcc, a comprehensive, unified benchmark and toolkit for occupancy forecasting (i.e., predicting future occupancies based on historical information) and occupancy prediction (i.e., predicting current-frame occupancy from…

Scene flow estimation is a crucial component in the development of autonomous driving and 3D robotics, providing valuable information for environment perception and navigation. Despite the advantages of learning-based scene flow estimation…

Optical flow is a crucial component of the feature space for early visual processing of dynamic scenes especially in new applications such as self-driving vehicles, drones and autonomous robots. The dynamic vision sensors are well suited…

Semantic and panoptic occupancy prediction for road scene analysis provides a dense 3D representation of the ego vehicle's surroundings. Current camera-only approaches typically rely on costly dense 3D supervision or require training models…

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…

Learning-based 3D reconstruction using implicit neural representations has shown promising progress not only at the object level but also in more complicated scenes. In this paper, we propose Dynamic Plane Convolutional Occupancy Networks,…

As a novel 3D scene representation, semantic occupancy has gained much attention in autonomous driving. However, existing occupancy prediction methods mainly focus on designing better occupancy representations, such as tri-perspective view…