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Cameras are a crucial exteroceptive sensor for self-driving cars as they are low-cost and small, provide appearance information about the environment, and work in various weather conditions. They can be used for multiple purposes such as…

Conventional camera-based 3D object detectors in autonomous driving are limited to recognizing a predefined set of objects, which poses a safety risk when encountering novel or unseen objects in real-world scenarios. To address this…

Autonomous driving without high-definition (HD) maps demands a higher level of active scene understanding. In this competition, the organizers provided the multi-perspective camera images and standard-definition (SD) maps to explore the…

This paper presents a novel approach for local 3D environment representation for autonomous unmanned ground vehicle (UGV) navigation called On Visible Point Clouds Mesh(OVPC Mesh). Our approach represents the surrounding of the robot as a…

Open-vocabulary 3D occupancy is vital for embodied agents, which need to understand complex indoor environments where semantic categories are abundant and evolve beyond fixed taxonomies. While recent work has explored open-vocabulary…

This paper proposes 3DGeoDet, a novel geometry-aware 3D object detection approach that effectively handles single- and multi-view RGB images in indoor and outdoor environments, showcasing its general-purpose applicability. The key challenge…

Monocular 3D object detection (M3OD) is a significant yet inherently challenging task in autonomous driving due to absence of explicit depth cues in a single RGB image. In this paper, we strive to boost currently underperforming monocular…

Obtaining high-quality 3D semantic occupancy from raw sensor data remains an essential yet challenging task, often requiring extensive manual labeling. In this work, we propose AutoOcc, a vision-centric automated pipeline for open-ended…

3D object detection has become an emerging task in autonomous driving scenarios. Previous works process 3D point clouds using either projection-based or voxel-based models. However, both approaches contain some drawbacks. The voxel-based…

Unlike humans, who can effortlessly estimate the entirety of objects even when partially occluded, modern computer vision algorithms still find this aspect extremely challenging. Leveraging this amodal perception for autonomous driving…

Semantic scene completion (SSC) aims to predict the semantic occupancy of each voxel in the entire 3D scene from limited observations, which is an emerging and critical task for autonomous driving. Recently, many studies have turned to…

Camera-based occupancy prediction is a mainstream approach for 3D perception in autonomous driving, aiming to infer complete 3D scene geometry and semantics from 2D images. Almost existing methods focus on improving performance through…

We present an efficient 3D object detection framework based on a single RGB image in the scenario of autonomous driving. Our efforts are put on extracting the underlying 3D information in a 2D image and determining the accurate 3D bounding…

Vision-based occupancy prediction, also known as 3D Semantic Scene Completion (SSC), presents a significant challenge in computer vision. Previous methods, confined to onboard processing, struggle with simultaneous geometric and semantic…

In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…

The deployment of humanoid robots for dexterous manipulation in unstructured environments remains challenging due to perceptual limitations that constrain the effective workspace. In scenarios where physical constraints prevent the robot…

Sketch-based modeling strives to bring the ease and immediacy of drawing to the 3D world. However, while drawings are easy for humans to create, they are very challenging for computers to interpret due to their sparsity and ambiguity. We…

The advancement of autonomous driving is increasingly reliant on high-quality annotated datasets, especially in the task of 3D occupancy prediction, where the occupancy labels require dense 3D annotation with significant human effort. In…

Depth completion from sparse LiDAR and high-resolution RGB data is one of the foundations for autonomous driving techniques. Current approaches often rely on CNN-based methods with several known drawbacks: flying pixel at depth…

We introduce a self-supervised pretraining method, called OccFeat, for camera-only Bird's-Eye-View (BEV) segmentation networks. With OccFeat, we pretrain a BEV network via occupancy prediction and feature distillation tasks. Occupancy…