相关论文: GaussianFlowOcc: Sparse and Weakly Supervised Occu…

3D occupancy prediction based on multi-sensor fusion,crucial for a reliable autonomous driving system, enables fine-grained understanding of 3D scenes. Previous fusion-based 3D occupancy predictions relied on depth estimation for processing…

In this technical report, we present our solution, named UniOCC, for the Vision-Centric 3D occupancy prediction track in the nuScenes Open Dataset Challenge at CVPR 2023. Existing methods for occupancy prediction primarily focus on…

In the realm of autonomous driving, accurately detecting surrounding obstacles is crucial for effective decision-making. Traditional methods primarily rely on 3D bounding boxes to represent these obstacles, which often fail to capture the…

3D occupancy prediction is an emerging task that aims to estimate the occupancy states and semantics of 3D scenes using multi-view images. However, image-based scene perception encounters significant challenges in achieving accurate…

TL;DR: Gaussian Splatting is a widely adopted approach for 3D scene representation, offering efficient, high-quality reconstruction and rendering. A key reason for its success is the simplicity of representing scenes with sets of Gaussians,…

Vision-based 3D semantic scene completion (SSC) describes autonomous driving scenes through 3D volume representations. However, the occlusion of invisible voxels by scene surfaces poses challenges to current SSC methods in hallucinating…

3D occupancy prediction is crucial for robust autonomous driving systems as it enables comprehensive perception of environmental structures and semantics. Most existing methods employ dense voxel-based scene representations, ignoring the…

3D Gaussian splats have emerged as a revolutionary, effective, learned representation for static 3D scenes. In this work, we explore using 2D Gaussian splats as a new primitive for representing videos. We propose GSVC, an approach to…

3D Gaussian Splatting (3DGS) has gained significant attention for its real-time, photo-realistic rendering in novel-view synthesis and 3D modeling. However, existing methods struggle with accurately modeling scenes affected by transient…

3D semantic occupancy and flow prediction are fundamental to spatiotemporal scene understanding. This paper proposes a vision-based framework with three targeted improvements. First, we introduce an occlusion-aware adaptive lifting…

We present GSLoc: a new visual localization method that performs dense camera alignment using 3D Gaussian Splatting as a map representation of the scene. GSLoc backpropagates pose gradients over the rendering pipeline to align the rendered…

Multimodal 3D occupancy prediction has garnered significant attention for its potential in autonomous driving. However, most existing approaches are single-modality: camera-based methods lack depth information, while LiDAR-based methods…

3D Gaussian splatting (3DGS) has recently emerged as an alternative representation that leverages a 3D Gaussian-based representation and introduces an approximated volumetric rendering, achieving very fast rendering speed and promising…

For intelligent transportation systems and autonomous vehicles to operate safely and efficiently, they must reliably predict the future motion and trajectory of surrounding agents within complex traffic environments. At the same time, the…

The significance of informative and robust point representations has been widely acknowledged for 3D scene understanding. Despite existing self-supervised pre-training counterparts demonstrating promising performance, the model collapse and…

3D Gaussian Splatting has recently emerged as a highly promising technique for modeling of static 3D scenes. In contrast to Neural Radiance Fields, it utilizes efficient rasterization allowing for very fast rendering at high-quality.…

Existing solutions for 3D semantic occupancy prediction typically treat the task as a one-shot 3D voxel-wise segmentation perception problem. These discriminative methods focus on learning the mapping between the inputs and occupancy map in…

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…

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…

We introduce ShelfGaussian, an open-vocabulary multi-modal Gaussian-based 3D scene understanding framework supervised by off-the-shelf vision foundation models (VFMs). Gaussian-based methods have demonstrated superior performance and…