相关论文: Inverse++: Vision-Centric 3D Semantic Occupancy Pr…

Perception systems in autonomous driving rely on sensors such as LiDAR and cameras to perceive the 3D environment. However, due to occlusions and data sparsity, these sensors often fail to capture complete information. Semantic Occupancy…

3D semantic occupancy prediction aims to reconstruct the 3D geometry and semantics of the surrounding environment. With dense voxel labels, prior works typically formulate it as a dense segmentation task, independently classifying each…

Saliency Prediction aims to predict the attention distribution of human eyes given an RGB image. Most of the recent state-of-the-art methods are based on deep image feature representations from traditional CNNs. However, the traditional…

In the realm of autonomous vehicle perception, comprehending 3D scenes is paramount for tasks such as planning and mapping. Camera-based 3D Semantic Occupancy Prediction (OCC) aims to infer scene geometry and semantics from limited…

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…

Semantic segmentation in autonomous driving predominantly focuses on learning from large-scale data with a closed set of known classes without considering unknown objects. Motivated by safety reasons, we address the video class agnostic…

This paper introduces a novel architecture for trajectory-conditioned forecasting of future 3D scene occupancy. In contrast to methods that rely on variational autoencoders (VAEs) to generate discrete occupancy tokens, which inherently…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

Accurately detecting lane lines in 3D space is crucial for autonomous driving. Existing methods usually first transform image-view features into bird-eye-view (BEV) by aid of inverse perspective mapping (IPM), and then detect lane lines…

A comprehensive understanding of 3D scenes is essential for autonomous vehicles (AVs), and among various perception tasks, occupancy estimation plays a central role by providing a general representation of drivable and occupied space.…

In this technical report, we present our solution for the Vision-Centric 3D Occupancy and Flow Prediction track in the nuScenes Open-Occ Dataset Challenge at CVPR 2024. Our innovative approach involves a dual-stage framework that enhances…

Existing vision-based 3D occupancy prediction methods are inherently limited in accuracy due to their exclusive reliance on street-view imagery, neglecting the potential benefits of incorporating satellite views. We propose SA-Occ, the…

Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work…

The sparse object detection paradigm shift towards dense 3D semantic occupancy prediction is necessary for dealing with long-tail safety challenges for autonomous vehicles. Nonetheless, the current voxelization methods commonly suffer from…

We tackle the task of scalable unsupervised object-centric representation learning on 3D scenes. Existing approaches to object-centric representation learning show limitations in generalizing to larger scenes as their learning processes…

Occupancy prediction plays a pivotal role in autonomous driving (AD) due to the fine-grained geometric perception and general object recognition capabilities. However, existing methods often incur high computational costs, which contradicts…

Autonomous driving in complex urban scenarios requires 3D perception to be both comprehensive and precise. Traditional 3D perception methods focus on object detection, resulting in sparse representations that lack environmental detail.…

Long-term situation prediction plays a crucial role in the development of intelligent vehicles. A major challenge still to overcome is the prediction of complex downtown scenarios with multiple road users, e.g., pedestrians, bikes, and…

3D object detection and occupancy prediction are critical tasks in autonomous driving, attracting significant attention. Despite the potential of recent vision-based methods, they encounter challenges under adverse conditions. Thus,…

One of the most important parts of environment perception is the detection of obstacles in the surrounding of the vehicle. To achieve that, several sensors like radars, LiDARs and cameras are installed in autonomous vehicles. The produced…