相关论文: Learning A Zero-shot Occupancy Network from Vision…

Learning 3D scene geometry and semantics from images is a core challenge in computer vision and a key capability for autonomous driving. Since large-scale 3D annotation is prohibitively expensive, recent work explores self-supervised…

Self-supervised monocular depth estimation enables robots to learn 3D perception from raw video streams. This scalable approach leverages projective geometry and ego-motion to learn via view synthesis, assuming the world is mostly static.…

In this paper, we introduce Semi-SMD, a novel metric depth estimation framework tailored for surrounding cameras equipment in autonomous driving. In this work, the input data consists of adjacent surrounding frames and camera parameters. We…

Monocular 3D object detection (Mono3D) has achieved unprecedented success with the advent of deep learning techniques and emerging large-scale autonomous driving datasets. However, drastic performance degradation remains an unwell-studied…

Low-light image enhancement remains a challenging task, particularly in the absence of paired training data. In this study, we present LucentVisionNet, a novel zero-shot learning framework that addresses the limitations of traditional and…

With the recent growth of urban mapping and autonomous driving efforts, there has been an explosion of raw 3D data collected from terrestrial platforms with lidar scanners and color cameras. However, due to high labeling costs, ground-truth…

Open-vocabulary 3D scene understanding presents a significant challenge in the field. Recent works have sought to transfer knowledge embedded in vision-language models from 2D to 3D domains. However, these approaches often require prior…

The deficiency of 3D segmentation labels is one of the main obstacles to effective point cloud segmentation, especially for scenes in the wild with varieties of different objects. To alleviate this issue, we propose a novel deep graph…

Deep neural networks (DNNs) remain challenged by distribution shifts in complex open-world domains like automated driving (AD): Robustness against yet unknown novel objects (semantic shift) or styles like lighting conditions (covariate…

3D semantic occupancy prediction is a cornerstone of robotic perception, yet real-world voxel annotations are inherently corrupted by structural artifacts and dynamic trailing effects. This raises a critical but underexplored question: can…

Real-world perception systems in many cases build on hardware with limited resources to adhere to cost and power limitations of their carrying system. Deploying deep neural networks on resource-constrained hardware became possible with…

Open-vocabulary segmentation (OVS) extends the zero-shot recognition capabilities of vision-language models (VLMs) to pixel-level prediction, enabling segmentation of arbitrary categories specified by text prompts. Despite recent progress,…

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…

We propose DistillNeRF, a self-supervised learning framework addressing the challenge of understanding 3D environments from limited 2D observations in outdoor autonomous driving scenes. Our method is a generalizable feedforward model that…

Depth estimation and semantic segmentation play essential roles in scene understanding. The state-of-the-art methods employ multi-task learning to simultaneously learn models for these two tasks at the pixel-wise level. They usually focus…

Open-set perception in complex traffic environments poses a critical challenge for autonomous driving systems, particularly in identifying previously unseen object categories, which is vital for ensuring safety. Visual Language Models…

The success of monocular depth estimation relies on large and diverse training sets. Due to the challenges associated with acquiring dense ground-truth depth across different environments at scale, a number of datasets with distinct…

In the field of visual scene understanding, deep neural networks have made impressive advancements in various core tasks like segmentation, tracking, and detection. However, most approaches operate on the close-set assumption, meaning that…

A comprehensive understanding of 3D scenes is crucial in autonomous vehicles (AVs), and recent models for 3D semantic occupancy prediction have successfully addressed the challenge of describing real-world objects with varied shapes and…

Accurately perceiving location and scene is crucial for autonomous driving and mobile robots. Recent advances in deep learning have made it possible to learn egomotion and depth from monocular images in a self-supervised manner, without…