相关论文: TGP: Two-modal occupancy prediction with 3D Gaussi…

Current learning-based methods predict NeRF or 3D Gaussians from point clouds to achieve photo-realistic rendering but still depend on categorical priors, dense point clouds, or additional refinements. Hence, we introduce a novel point…

To automatically localize a target object in an image is crucial for many computer vision applications. To represent the 2D object, ellipse labels have recently been identified as a promising alternative to axis-aligned bounding boxes. This…

Exploiting past 3D LiDAR scans to predict future point clouds is a promising method for autonomous mobile systems to realize foresighted state estimation, collision avoidance, and planning. In this paper, we address the problem of…

While visual-language models have profoundly linked features between texts and images, the incorporation of 3D modality data, such as point clouds and 3D Gaussians, further enables pretraining for 3D-related tasks, e.g., cross-modal…

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…

3D semantic occupancy prediction offers an intuitive and efficient scene understanding and has attracted significant interest in autonomous driving perception. Existing approaches either rely on full supervision, which demands costly…

3D occupancy-based perception pipeline has significantly advanced autonomous driving by capturing detailed scene descriptions and demonstrating strong generalizability across various object categories and shapes. Current methods…

High-quality point cloud data is a critical foundation for tasks such as autonomous driving and 3D reconstruction. However, LiDAR-based point cloud acquisition is often affected by various disturbances, resulting in a large number of noise…

Environment perception including detection, classification, tracking, and motion prediction are key enablers for automated driving systems and intelligent transportation applications. Fueled by the advances in sensing technologies and…

Occupancy prediction plays a pivotal role in autonomous driving. Previous methods typically construct dense 3D volumes, neglecting the inherent sparsity of the scene and suffering from high computational costs. To bridge the gap, we…

Occupancy is crucial for autonomous driving, providing essential geometric priors for perception and planning. However, existing methods predominantly rely on LiDAR-based occupancy annotations, which limits scalability and prevents…

3D occupancy becomes a promising perception representation for autonomous driving to model the surrounding environment at a fine-grained scale. However, it remains challenging to efficiently aggregate 3D occupancy over time across multiple…

Occupancy mapping has been a key enabler of mobile robotics. Originally based on a discrete grid representation, occupancy mapping has evolved towards continuous representations that can predict the occupancy status at any location and…

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…

We revisit Semantic Scene Completion (SSC), a useful task to predict the semantic and occupancy representation of 3D scenes, in this paper. A number of methods for this task are always based on voxelized scene representations for keeping…

In this paper we provide an overview of a new framework for robot perception, real-world modelling, and navigation that uses a stochastic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

The accurate reconstruction of dynamic street scenes is critical for applications in autonomous driving, augmented reality, and virtual reality. Traditional methods relying on dense point clouds and triangular meshes struggle with moving…

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…