相关论文: 3D Occupancy Prediction with Low-Resolution Querie…

The past few years have witnessed the rapid development of vision-centric 3D perception in autonomous driving. Although the 3D perception models share many structural and conceptual similarities, there still exist gaps in their feature…

Recent advancements in camera-based occupancy prediction have focused on the simultaneous prediction of 3D semantics and scene flow, a task that presents significant challenges due to specific difficulties, e.g., occlusions and unbalanced…

Estimating the layout of a room from a single-shot panoramic image is important in virtual/augmented reality and furniture layout simulation. This involves identifying three-dimensional (3D) geometry, such as the location of corners and…

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…

Despite the demonstrated efficiency and performance of sparse query-based representations for perception, state-of-the-art 3D occupancy prediction methods still rely on voxel-based or dense Gaussian-based 3D representations. However, dense…

3D semantic occupancy prediction is an emerging perception paradigm in autonomous driving, providing a voxel-level representation of both geometric details and semantic categories. However, its effectiveness is inherently constrained in…

We introduce a new family of video prediction models designed to support downstream control tasks. We call these models Video Occupancy models (VOCs). VOCs operate in a compact latent space, thus avoiding the need to make predictions about…

Occupancy plays an essential role in influencing the energy consumption and operation of heating, ventilation, and air conditioning (HVAC) systems. Traditional HVAC typically operate on fixed schedules without considering occupancy.…

While previous researches in eye fixation prediction typically rely on integrating low-level features (e.g. color, edge) to form a saliency map, recently it has been found that the structural organization of these features into a…

Occupancy prediction tasks focus on the inference of both geometry and semantic labels for each voxel, which is an important perception mission. However, it is still a semantic segmentation task without distinguishing various instances.…

Visual recognition has been dominated by convolutional neural networks (CNNs) for years. Though recently the prevailing vision transformers (ViTs) have shown great potential of self-attention based models in ImageNet classification, their…

Since a building's floorplans are easily accessible, consistent over time, and inherently robust to changes in visual appearance, self-localization within the floorplan has attracted researchers' interest. However, since floorplans are…

Panoramic imagery provides holistic 360{\deg} visual coverage for perception in quadruped robots. However, existing occupancy prediction methods are mainly designed for wheeled autonomous driving and rely heavily on RGB cues, limiting their…

Camera-based 3D Semantic Scene Completion (SSC) is a critical task for autonomous driving and robotic scene understanding. It aims to infer a complete 3D volumetric representation of both semantics and geometry from a single image. Existing…

3D semantic occupancy prediction aims to forecast detailed geometric and semantic information of the surrounding environment for autonomous vehicles (AVs) using onboard surround-view cameras. Existing methods primarily focus on intricate…

We introduce a dual contouring method that provides state-of-the-art performance for occupancy functions while achieving computation times of a few seconds. Our method is learning-free and carefully designed to maximize the use of GPU…

Understanding dynamic 3D environments in a spatially continuous and temporally consistent manner is fundamental for robotics and autonomous driving. While recent advances in occupancy prediction provide a unified representation of scene…

Embodied intelligence requires high-fidelity simulation environments to support perception and decision-making, yet existing platforms often suffer from data contamination and limited flexibility. To mitigate this, we propose…

Image-only and pseudo-LiDAR representations are commonly used for monocular 3D object detection. However, methods based on them have shortcomings of either not well capturing the spatial relationships in neighbored image pixels or being…

We develop new representations and algorithms for three-dimensional (3D) object detection and spatial layout prediction in cluttered indoor scenes. We first propose a clouds of oriented gradient (COG) descriptor that links the 2D appearance…