相关论文: Collaborative Learning of Local 3D Occupancy Predi…

Reliable pose estimation in previously unseen environments is a fundamental capability of autonomous systems. Existing LiDAR odometry methods typically employ point-, surfel-, or NDT-based map representations, which are distinct from the…

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…

3D semantic occupancy prediction has become a crucial perception task for comprehensive scene understanding in autonomous driving. While recent advances have explored 3D Gaussian splatting for occupancy modeling to substantially reduce…

Robust 3D semantic occupancy is crucial for legged/humanoid robots, yet most semantic scene completion (SSC) systems target wheeled platforms with forward-facing sensors. We present OneOcc, a vision-only panoramic SSC framework designed for…

In this paper, we propose OccTENS, a generative occupancy world model that enables controllable, high-fidelity long-term occupancy generation while maintaining computational efficiency. Different from visual generation, the occupancy world…

In perception for automated vehicles, safety is critical not only for the driver but also for other agents in the scene, particularly vulnerable road users such as pedestrians and cyclists. Previous representation methods, such as Bird's…

Occupancy and 3D object detection are characterized as two standard tasks in modern autonomous driving system. In order to deploy them on a series of edge chips with better precision and time-consuming trade-off, contemporary approaches…

Multimodal large language models (MLLMs) have shown strong vision-language reasoning abilities but still lack robust 3D spatial understanding, which is critical for autonomous driving. This limitation stems from two key challenges: (1) the…

Comprehensive and consistent dynamic scene understanding from camera input is essential for advanced autonomous systems. Traditional camera-based perception tasks like 3D object tracking and semantic occupancy prediction lack either spatial…

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…

3D environment recognition is essential for autonomous driving systems, as autonomous vehicles require a comprehensive understanding of surrounding scenes. Recently, the predominant approach to define this real-life problem is through 3D…

Modeling and understanding the environment is an essential task for autonomous driving. In addition to the detection of objects, in complex traffic scenarios the motion of other road participants is of special interest. Therefore, we…

3D occupancy prediction is critical for comprehensive scene understanding in vision-centric autonomous driving. Recent advances have explored utilizing 3D semantic Gaussians to model occupancy while reducing computational overhead, but they…

Efficient and high-accuracy 3D occupancy prediction is vital for the performance of autonomous driving systems. However, existing methods struggle to balance precision and efficiency: high-accuracy approaches are often hindered by heavy…

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…

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…

Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data…

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…

3D semantic occupancy prediction is a crucial task in visual perception, as it requires the simultaneous comprehension of both scene geometry and semantics. It plays a crucial role in understanding 3D scenes and has great potential for…

Vision-based 3D semantic scene completion (SSC) describes autonomous driving scenes through 3D volume representations. However, the occlusion of invisible voxels by scene surfaces poses challenges to current SSC methods in hallucinating…