相关论文: TrackOcc: Camera-based 4D Panoptic Occupancy Track…

Visual grounding aims to identify objects or regions in a scene based on natural language descriptions, essential for spatially aware perception in autonomous driving. However, existing visual grounding tasks typically depend on bounding…

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…

3D reconstruction has been widely used in autonomous navigation fields of mobile robotics. However, the former research can only provide the basic geometry structure without the capability of open-world scene understanding, limiting…

Scene completion and forecasting are two popular perception problems in research for mobile agents like autonomous vehicles. Existing approaches treat the two problems in isolation, resulting in a separate perception of the two aspects. In…

We introduce GaussianOcc, a systematic method that investigates the two usages of Gaussian splatting for fully self-supervised and efficient 3D occupancy estimation in surround views. First, traditional methods for self-supervised 3D…

Vision-based 3D semantic occupancy prediction is vital for autonomous driving, enabling unified modeling of static infrastructure and dynamic agents. Global occupancy maps serve as long-term memory priors, providing valuable historical…

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…

3D semantic occupancy prediction in the past was considered to require precise geometric relationships in order to enable effective training. However, in complex indoor environments, the large-scale and widespread collection of data, along…

3D semantic occupancy prediction is crucial for autonomous driving perception, offering comprehensive geometric scene understanding and semantic recognition. However, existing methods struggle with geometric misalignment in view…

Given the capability of mitigating the long-tail deficiencies and intricate-shaped absence prevalent in 3D object detection, occupancy prediction has become a pivotal component in autonomous driving systems. However, the procession of…

Occupancy estimation has become a prominent task in 3D computer vision, particularly within the autonomous driving community. In this paper, we present a novel approach to occupancy estimation, termed GaussianFlowOcc, which is inspired by…

Recent progress in self- and weakly supervised occupancy estimation has largely relied on 2D projection or rendering-based supervision, which suffers from geometric inconsistencies and severe depth bleeding. We thus introduce ShelfOcc, a…

3D semantic occupancy prediction is a crucial task in visual perception, as it requires the simultaneous comprehension of both scene geometry and semantics. It plays a crucial role in understanding 3D scenes and has great potential for…

3D occupancy perception holds a pivotal role in recent vision-centric autonomous driving systems by converting surround-view images into integrated geometric and semantic representations within dense 3D grids. Nevertheless, current models…

3D occupancy prediction has become a key perception task in autonomous driving, as it enables comprehensive scene understanding. Recent methods enhance this understanding by incorporating spatiotemporal information through multi-frame…

3D semantic occupancy prediction is a pivotal task in the field of autonomous driving. Recent approaches have made great advances in 3D semantic occupancy predictions on a single modality. However, multi-modal semantic occupancy prediction…

Driving scene generation is a critical domain for autonomous driving, enabling downstream applications, including perception and planning evaluation. Occupancy-centric methods have recently achieved state-of-the-art results by offering…

3D occupancy, an advanced perception technology for driving scenarios, represents the entire scene without distinguishing between foreground and background by quantifying the physical space into a grid map. The widely adopted…

Monocular 3D occupancy prediction, aiming to predict the occupancy and semantics within interesting regions of 3D scenes from only 2D images, has garnered increasing attention recently for its vital role in 3D scene understanding.…

Template-based 3D object tracking still lacks a high-precision benchmark of real scenes due to the difficulty of annotating the accurate 3D poses of real moving video objects without using markers. In this paper, we present a multi-view…