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

Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem,…

Understanding the motion states of the surrounding environment is critical for safe autonomous driving. These motion states can be accurately derived from scene flow, which captures the three-dimensional motion field of points. Existing…

Estimating the 3D world from 2D monocular images is a fundamental yet challenging task due to the labour-intensive nature of 3D annotations. To simplify label acquisition, this work proposes a novel approach that bridges 2D vision…

Understanding the flow in 3D space of sparsely sampled points between two consecutive time frames is the core stone of modern geometric-driven systems such as VR/AR, Robotics, and Autonomous driving. The lack of real, non-simulated, labeled…

For visual estimation of optical flow, a crucial function for many vision tasks, unsupervised learning, using the supervision of view synthesis has emerged as a promising alternative to supervised methods, since ground-truth flow is not…

The paradigm of learning-based robotics holds immense promise, yet its translation to real-world applications is critically hindered by the sample inefficiency and brittleness of conventional model-free reinforcement learning algorithms. In…

In perception tasks of automated vehicles (AVs) data-driven have often outperformed conventional approaches. This motivated us to develop a data-driven methodology to compute occupancy grid maps (OGMs) from lidar measurements. Our approach…

This paper addresses the problem of learning instantaneous occupancy levels of dynamic environments and predicting future occupancy levels. Due to the complexity of most real-world environments, such as urban streets or crowded areas, the…

Generating multi-camera street-view videos is critical for augmenting autonomous driving datasets, addressing the urgent demand for extensive and varied data. Due to the limitations in diversity and challenges in handling lighting…

Scene flow estimation determines a scene's 3D motion field, by predicting the motion of points in the scene, especially for aiding tasks in autonomous driving. Many networks with large-scale point clouds as input use voxelization to create…

3D environment recognition is essential for autonomous driving systems, as autonomous vehicles require a comprehensive understanding of surrounding scenes. Recently, the predominant approach to define this real-life problem is through 3D…

3D semantic occupancy prediction offers an intuitive and efficient scene understanding and has attracted significant interest in autonomous driving perception. Existing approaches either rely on full supervision, which demands costly…

This article introduces a novel method for converting 3D voxel maps, commonly utilized by robots for localization and navigation, into 2D occupancy maps for both unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). The…

Occupancy is crucial for autonomous driving, providing essential geometric priors for perception and planning. However, existing methods predominantly rely on LiDAR-based occupancy annotations, which limits scalability and prevents…

Efficient and scalable 3D occupancy mapping is essential for autonomous robot applications in unknown environments. However, traditional occupancy grid representations suffer from two fundamental limitations. First, explicitly storing all…

This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…

World models have attracted increasing attention in autonomous driving for their ability to forecast potential future scenarios. In this paper, we propose BEVWorld, a novel framework that transforms multimodal sensor inputs into a unified…

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…

Efficient planning in high-dimensional spaces, such as those involving deformable objects, requires computationally tractable yet sufficiently expressive dynamics models. This paper introduces a method that automatically generates…

Training robot policies within a learned world model is trending due to the inefficiency of real-world interactions. The established image-based world models and policies have shown prior success, but lack robust geometric information that…