相关论文: MS-Occ: Multi-Stage LiDAR-Camera Fusion for 3D Sem…

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,…

Occupancy prediction has garnered increasing attention in recent years for its comprehensive fine-grained environmental representation and strong generalization to open-set objects. However, cumbersome voxel features and 3D convolution…

Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. To further advance the practical application of service robots in complex dynamic…

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…

Representing images or videos as object-level feature vectors, rather than pixel-level feature maps, facilitates advanced visual tasks. Object-Centric Learning (OCL) primarily achieves this by reconstructing the input under the guidance of…

Dense 3D semantic occupancy perception is critical for mobile robots operating in pedestrian-rich environments, yet it remains underexplored compared to its application in autonomous driving. To address this gap, we present MobileOcc, a…

In autonomous driving, addressing occlusion scenarios is crucial yet challenging. Robust surrounding perception is essential for handling occlusions and aiding motion planning. State-of-the-art models fuse Lidar and Camera data to produce…

3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…

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…

Camera-based 3D semantic scene completion (SSC) provides dense geometric and semantic perception for autonomous driving and robotic navigation. However, existing methods rely on a coupled encoder to deliver both semantic and geometric…

We introduce SLCF-Net, a novel approach for the Semantic Scene Completion (SSC) task that sequentially fuses LiDAR and camera data. It jointly estimates missing geometry and semantics in a scene from sequences of RGB images and sparse LiDAR…

Mainstream image caption models are usually two-stage captioners, i.e., calculating object features by pre-trained detector, and feeding them into a language model to generate text descriptions. However, such an operation will cause a…

Integrating LiDAR and camera inputs into a unified Bird's-Eye-View (BEV) representation is crucial for enhancing 3D perception capabilities of autonomous vehicles. However, existing methods suffer from spatial misalignment between LiDAR and…

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…

We propose an accurate and robust multi-modal sensor fusion framework, MetroLoc, towards one of the most extreme scenarios, the large-scale metro vehicle localization and mapping. MetroLoc is built atop an IMU-centric state estimator that…

Comprehensive modeling of the surrounding 3D world is key to the success of autonomous driving. However, existing perception tasks like object detection, road structure segmentation, depth & elevation estimation, and open-set object…

3D occupancy prediction has become a key perception task in autonomous driving, as it enables comprehensive scene understanding. Recent methods enhance this understanding by incorporating spatiotemporal information through multi-frame…

Visual Odometry (VO) estimation is an important source of information for vehicle state estimation and autonomous driving. Recently, deep learning based approaches have begun to appear in the literature. However, in the context of driving,…

Vision-language models enable the understanding and reasoning of complex traffic scenarios through multi-source information fusion, establishing it as a core technology for autonomous driving. However, existing vision-language models are…

Semantic Scene Completion (SSC) is essential for 3D perception in mobile robotics, as it enables holistic scene understanding by jointly estimating dense volumetric occupancy and per-voxel semantics. Although SSC has been widely studied in…