相关论文: EmbodiedOcc++: Boosting Embodied 3D Occupancy Pred…

Recently, generalizable human Gaussian splatting from sparse-view inputs has been actively studied for the photorealistic human rendering. Most existing methods rely on explicit geometric constraints or predefined structural representations…

Recent advancements in 3D Gaussian Splatting(3DGS) have significantly improved semantic scene understanding, enabling natural language queries to localize objects within a scene. However, existing methods primarily focus on embedding…

Reproducible closed-loop evaluation remains a major bottleneck in Embodied AI such as visual navigation. A promising path forward is high-fidelity simulation that combines photorealistic sensor rendering with geometrically grounded…

Autonomous navigation and exploration in unmapped environments remains a significant challenge in robotics due to the difficulty robots face in making commonsense inference of unobserved geometries. Recent advancements have demonstrated…

Autonomous driving requires robust perception across diverse environmental conditions, yet 3D semantic occupancy prediction remains challenging under adverse weather and lighting. In this work, we present the first study combining 4D radar…

Energy consumption of memory accesses dominates the compute energy in energy-constrained robots which require a compact 3D map of the environment to achieve autonomy. Recent mapping frameworks only focused on reducing the map size while…

Accurate 6D object pose estimation is a fundamental capability for embodied agents, yet remains highly challenging in open-world environments. Many existing methods often rely on closed-set assumptions or geometry-agnostic regression…

Learning a latent embedding to understand the underlying nature of data distribution is often formulated in Euclidean spaces with zero curvature. However, the success of the geometry constraints, posed in the embedding space, indicates that…

The goal of the Semantic Scene Completion (SSC) task is to simultaneously predict a completed 3D voxel representation of volumetric occupancy and semantic labels of objects in the scene from a single-view observation. Since the…

The task of occupancy forecasting (OCF) involves utilizing past and present perception data to predict future occupancy states of autonomous vehicle surrounding environments, which is critical for downstream tasks such as obstacle avoidance…

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…

Exploiting 3D Gaussian Splatting (3DGS) with Contrastive Language-Image Pre-Training (CLIP) models for open-vocabulary 3D semantic understanding of indoor scenes has emerged as an attractive research focus. Existing methods typically attach…

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…

In this report, we present the 4th place solution for CVPR 2023 3D occupancy prediction challenge. We propose a simple method called Multi-Scale Occ for occupancy prediction based on lift-splat-shoot framework, which introduces multi-scale…

Occupancy prediction, aiming at predicting the occupancy status within voxelized 3D environment, is quickly gaining momentum within the autonomous driving community. Mainstream occupancy prediction works first discretize the 3D environment…

SLAM (Simultaneous Localisation and Mapping) is a crucial component for robotic systems, providing a map of an environment, the current location and previous trajectory of a robot. While 3D LiDAR SLAM has received notable improvements in…

In the realm of autonomous driving, accurately detecting surrounding obstacles is crucial for effective decision-making. Traditional methods primarily rely on 3D bounding boxes to represent these obstacles, which often fail to capture the…

Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…

Effective embodied exploration requires agents to accumulate and retain spatial knowledge over time. However, existing scene representations, such as discrete scene graphs or static view-based snapshots, lack \textit{post-hoc…

Camera-based 3D occupancy prediction has recently garnered increasing attention in outdoor driving scenes. However, research in indoor scenes remains relatively unexplored. The core differences in indoor scenes lie in the complexity of…