相关论文: SliceOcc: Indoor 3D Semantic Occupancy Prediction …

The advancement of autonomous driving is increasingly reliant on high-quality annotated datasets, especially in the task of 3D occupancy prediction, where the occupancy labels require dense 3D annotation with significant human effort. In…

The safe operation of autonomous vehicles (AVs) is highly dependent on their understanding of the surroundings. For this, the task of 3D semantic occupancy prediction divides the space around the sensors into voxels, and labels each voxel…

Exploiting 3D Gaussian Splatting (3DGS) with Contrastive Language-Image Pre-Training (CLIP) models for open-vocabulary 3D semantic understanding of indoor scenes has emerged as an attractive research focus. Existing methods typically attach…

3D semantic occupancy prediction is a cornerstone for embodied AI, enabling agents to perceive dense scene geometry and semantics incrementally from monocular video streams. However, current online frameworks face two critical bottlenecks:…

3D semantic occupancy prediction aims to forecast detailed geometric and semantic information of the surrounding environment for autonomous vehicles (AVs) using onboard surround-view cameras. Existing methods primarily focus on intricate…

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…

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…

We introduce GaussianOcc, a systematic method that investigates the two usages of Gaussian splatting for fully self-supervised and efficient 3D occupancy estimation in surround views. First, traditional methods for self-supervised 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…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Addressing the task of 3D semantic occupancy prediction for autonomous driving, we tackle two key issues in existing 3D Gaussian Splatting (3DGS) methods: (1) unified feature aggregation neglecting semantic correlations among similar…

The task of occupancy forecasting (OCF) involves utilizing past and present perception data to predict future occupancy states of autonomous vehicle surrounding environments, which is critical for downstream tasks such as obstacle avoidance…

3D Semantic Scene Completion (SSC) can provide dense geometric and semantic scene representations, which can be applied in the field of autonomous driving and robotic systems. It is challenging to estimate the complete geometry and…

This technical report summarizes the winning solution for the 3D Occupancy Prediction Challenge, which is held in conjunction with the CVPR 2023 Workshop on End-to-End Autonomous Driving and CVPR 23 Workshop on Vision-Centric Autonomous…

3D occupancy prediction has attracted much attention in the field of autonomous driving due to its powerful geometric perception and object recognition capabilities. However, existing methods have not explored the most essential…

3D occupancy perception holds a pivotal role in recent vision-centric autonomous driving systems by converting surround-view images into integrated geometric and semantic representations within dense 3D grids. Nevertheless, current models…

Vision-based occupancy prediction, also known as 3D Semantic Scene Completion (SSC), presents a significant challenge in computer vision. Previous methods, confined to onboard processing, struggle with simultaneous geometric and semantic…

The autonomous driving community has shown significant interest in 3D occupancy prediction, driven by its exceptional geometric perception and general object recognition capabilities. To achieve this, current works try to construct a…

We present GDFusion, a temporal fusion method for vision-based 3D semantic occupancy prediction (VisionOcc). GDFusion opens up the underexplored aspects of temporal fusion within the VisionOcc framework, focusing on both temporal cues and…

We introduce LOcc, an effective and generalizable framework for open-vocabulary occupancy (OVO) prediction. Previous approaches typically supervise the networks through coarse voxel-to-text correspondences via image features as…