相关论文: OccProphet: Pushing Efficiency Frontier of Camera-…

3D semantic occupancy prediction requires accurate 2D-to-3D feature lifting, yet current methods restrict camera geometry to initial projections. Subsequent operations like offset learning, attention weighting, and cross-camera aggregation…

Although the smart camera parking system concept has existed for decades, a few approaches have fully addressed the system's scalability and reliability. As the cornerstone of a smart parking system is the ability to detect occupancy,…

Autonomous vehicles need a complete map of their surroundings to plan and act. This has sparked research into the tasks of 3D occupancy prediction, 3D scene completion, and 3D panoptic scene completion, which predict a dense map of the ego…

Understanding and forecasting future scene states is critical for autonomous agents to plan and act effectively in complex environments. Object-centric models, with structured latent spaces, have shown promise in modeling object dynamics…

Vision-centric semantic occupancy prediction plays a crucial role in autonomous driving, which requires accurate and reliable predictions from low-cost sensors. Although having notably narrowed the accuracy gap with LiDAR, there is still…

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…

Visual Odometry (VO) plays a pivotal role in autonomous systems, with a principal challenge being the lack of depth information in camera images. This paper introduces OCC-VO, a novel framework that capitalizes on recent advances in deep…

Reliably predicting future occupancy of highly dynamic urban environments is an important precursor for safe autonomous navigation. Common challenges in the prediction include forecasting the relative position of other vehicles, modelling…

Prediction of dynamic environment is crucial to safe navigation of an autonomous vehicle. Urban traffic scenes are particularly challenging to forecast due to complex interactions between various dynamic agents, such as vehicles and…

Autonomous navigation at high speeds in off-road environments necessitates robots to comprehensively understand their surroundings using onboard sensing only. The extreme conditions posed by the off-road setting can cause degraded camera…

Navigating dynamic and unstructured environments poses significant challenges for autonomous robots, particularly due to the uncertainty introduced by occluded areas. Conventional sensing methods often fail to detect obstacles hidden behind…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

This paper introduces InverseMatrixVT3D, an efficient method for transforming multi-view image features into 3D feature volumes for 3D semantic occupancy prediction. Existing methods for constructing 3D volumes often rely on depth…

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…

One essential step to realize modern driver assistance technology is the accurate knowledge about the location of static objects in the environment. In this work, we use artificial neural networks to predict the occupation state of a whole…

In this paper, we propose a One-Point-One NeRF (OPONeRF) framework for robust scene rendering. Existing NeRFs are designed based on a key assumption that the target scene remains unchanged between the training and test time. However, small…

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect…

Semantic 3D mapping can be used for many applications such as robot navigation and virtual interaction. In recent years, there has been great progress in semantic segmentation and geometric 3D mapping. However, it is still challenging to…

We present a novel approach for enhancing robotic exploration by using generative occupancy mapping. We implement SceneSense, a diffusion model designed and trained for predicting 3D occupancy maps given partial observations. Our proposed…

Existing learning-based occupancy prediction methods rely on large-scale 3D annotations and generalize poorly across environments. We present FreeOcc, a training-free framework for open-vocabulary occupancy prediction from monocular or…