相关论文: Vision-based 3D Semantic Scene Completion via Capt…

3D object detection using LiDAR point clouds is a fundamental task in the fields of computer vision, robotics, and autonomous driving. However, existing 3D detectors heavily rely on annotated datasets, which are both time-consuming and…

Open-set semantic mapping enables language-driven robotic perception, but current instance-centric approaches are bottlenecked by context-depriving and computationally expensive crop-based feature extraction. To overcome this fundamental…

Autonomous driving perception faces significant challenges due to occlusions and incomplete scene data in the environment. To overcome these issues, the task of semantic occupancy prediction (SOP) is proposed, which aims to jointly infer…

The challenge of graphically rendering high frame-rate videos on low compute devices can be addressed through periodic prediction of future frames to enhance the user experience in virtual reality applications. This is studied through the…

3D scene understanding plays a vital role in vision-based autonomous driving. While most existing methods focus on 3D object detection, they have difficulty describing real-world objects of arbitrary shapes and infinite classes. Towards a…

3D semantic scene completion and 2D semantic segmentation are two tightly correlated tasks that are both essential for indoor scene understanding, because they predict the same semantic classes, using positively correlated high-level…

Semantic scene completion (SSC) is essential for achieving comprehensive perception in autonomous driving systems. However, existing SSC methods often overlook the high deployment costs in real-world applications. Traditional architectures,…

Learning object-centric representations of multi-object scenes is a promising approach towards machine intelligence, facilitating high-level reasoning and control from visual sensory data. However, current approaches for unsupervised…

In this paper, we investigate the use of diffusion models which are pre-trained on large-scale image-caption pairs for open-vocabulary 3D semantic understanding. We propose a novel method, namely Diff2Scene, which leverages frozen…

We present a deep reinforcement learning method of progressive view inpainting for colored semantic point cloud scene completion under volume guidance, achieving high-quality scene reconstruction from only a single RGB-D image with severe…

Capturing and reconstructing high-speed dynamic 3D scenes has numerous applications in computer graphics, vision, and interdisciplinary fields such as robotics, aerodynamics, and evolutionary biology. However, achieving this using a single…

Holistic 3D scene understanding, which jointly models geometry, appearance, and semantics, is crucial for applications like augmented reality and robotic interaction. Existing feed-forward 3D scene understanding methods (e.g., LSM) are…

We introduce SLCF-Net, a novel approach for the Semantic Scene Completion (SSC) task that sequentially fuses LiDAR and camera data. It jointly estimates missing geometry and semantics in a scene from sequences of RGB images and sparse LiDAR…

Semantic segmentation of 3D meshes is an important problem for 3D scene understanding. In this paper we revisit the classic multiview representation of 3D meshes and study several techniques that make them effective for 3D semantic…

Real-time, high-fidelity reconstruction of dynamic driving scenes is challenged by complex dynamics and sparse views, with prior methods struggling to balance quality and efficiency. We propose DrivingScene, an online, feed-forward…

Self-supervised methods have showed promising results on depth estimation task. However, previous methods estimate the target depth map and camera ego-motion simultaneously, underusing multi-frame correlation information and ignoring the…

Manipulating images of complex scenes to reconstruct, insert and/or remove specific object instances is a challenging task. Complex scenes contain multiple semantics and objects, which are frequently cluttered or ambiguous, thus hampering…

Multi-camera 3D perception has emerged as a prominent research field in autonomous driving, offering a viable and cost-effective alternative to LiDAR-based solutions. The existing multi-camera algorithms primarily rely on monocular 2D…

In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions…

The widespread adoption of autonomous systems such as drones and assistant robots has created a need for real-time high-quality semantic scene segmentation. In this paper, we propose an efficient yet robust technique for on-the-fly dense…