相关论文: Deflickering Vision-Based Occupancy Networks throu…

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…

Temporal misalignment (time offset) between sensors is common in low cost visual-inertial odometry (VIO) systems. Such temporal misalignment introduces inconsistent constraints for state estimation, leading to a significant positioning…

Occupancy Network has recently attracted much attention in autonomous driving. Instead of monocular 3D detection and recent bird's eye view(BEV) models predicting 3D bounding box of obstacles, Occupancy Network predicts the category of…

Image matching is a fundamental and critical task in various visual applications, such as Simultaneous Localization and Mapping (SLAM) and image retrieval, which require accurate pose estimation. However, most existing methods ignore the…

Autonomous driving requires forecasting both geometry and semantics over time to effectively reason about future environment states. Existing vision-based occupancy forecasting methods focus on motion-related categories such as static and…

Vision-and-Language Navigation (VLN) is a challenging task where an agent is required to navigate to a natural language described location via vision observations. The navigation abilities of the agent can be enhanced by the relations…

Occupancy prediction reconstructs 3D structures of surrounding environments. It provides detailed information for autonomous driving planning and navigation. However, most existing methods heavily rely on the LiDAR point clouds to generate…

Vision-based 3D occupancy prediction is significantly challenged by the inherent limitations of monocular vision in depth estimation. This paper introduces CVT-Occ, a novel approach that leverages temporal fusion through the geometric…

Human driver can easily describe the complex traffic scene by visual system. Such an ability of precise perception is essential for driver's planning. To achieve this, a geometry-aware representation that quantizes the physical 3D scene…

In autonomous driving, 3D occupancy prediction outputs voxel-wise status and semantic labels for more comprehensive understandings of 3D scenes compared with traditional perception tasks, such as 3D object detection and bird's-eye view…

3D semantic occupancy prediction is crucial for finely representing the surrounding environment, which is essential for ensuring the safety in autonomous driving. Existing fusion-based occupancy methods typically involve performing a…

Modern approaches for vision-centric environment perception for autonomous navigation make extensive use of self-supervised monocular depth estimation algorithms that output disparity maps. However, when this disparity map is projected onto…

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…

Point clouds, as a form of Lagrangian representation, allow for powerful and flexible applications in a large number of computational disciplines. We propose a novel deep-learning method to learn stable and temporally coherent feature…

3D semantic occupancy prediction networks have demonstrated remarkable capabilities in reconstructing the geometric and semantic structure of 3D scenes, providing crucial information for robot navigation and autonomous driving systems.…

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…

Occupancy prediction has garnered increasing attention in recent years for its comprehensive fine-grained environmental representation and strong generalization to open-set objects. However, cumbersome voxel features and 3D convolution…

Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…

Vision-Language Navigation (VLN) systems are fundamentally constrained by partial observability, as an agent can only accumulate knowledge from locations it has personally visited. As multiple robots increasingly coexist in shared…

In autonomous driving, Vision Language Models (VLMs) excel at high-level reasoning , whereas semantic occupancy provides fine-grained details. Despite significant progress in individual fields, there is still no method that can effectively…