相关论文: STCOcc: Sparse Spatial-Temporal Cascade Renovation…

Real-time scene reconstruction from depth data inevitably suffers from occlusion, thus leading to incomplete 3D models. Partial reconstructions, in turn, limit the performance of algorithms that leverage them for applications in the context…

Many existing autonomous driving paradigms involve a multi-stage discrete pipeline of tasks. To better predict the control signals and enhance user safety, an end-to-end approach that benefits from joint spatial-temporal feature learning is…

Occlusion is a common issue in 3D reconstruction from RGB-D videos, often blocking the complete reconstruction of objects and presenting an ongoing problem. In this paper, we propose a novel framework, empowered by a 2D diffusion-based…

3D semantic occupancy prediction is an essential part of autonomous driving, focusing on capturing the geometric details of scenes. Off-road environments are rich in geometric information, therefore it is suitable for 3D semantic occupancy…

High-fidelity street scene reconstruction is pivotal for end-to-end autonomous driving simulation, where novel-view synthesis (NVS) and time-varying information modeling are two fundamental capabilities to facilitate closed-loop training.…

Recent research has revealed that reducing the temporal and spatial redundancy are both effective approaches towards efficient video recognition, e.g., allocating the majority of computation to a task-relevant subset of frames or the most…

We present SCube, a novel method for reconstructing large-scale 3D scenes (geometry, appearance, and semantics) from a sparse set of posed images. Our method encodes reconstructed scenes using a novel representation VoxSplat, which is a set…

Semantic occupancy prediction aims to infer dense geometry and semantics of surroundings for an autonomous agent to operate safely in the 3D environment. Existing occupancy prediction methods are almost entirely trained on human-annotated…

We introduce a novel, training-free system for reconstructing, understanding, and rendering 3D indoor scenes from a sparse set of unposed RGB images. Unlike traditional radiance field approaches that require dense views and per-scene…

Previous surface reconstruction methods either suffer from low geometric accuracy or lengthy training times when dealing with real-world complex dynamic scenes involving multi-person activities, and human-object interactions. To tackle the…

We present SOccDPT, a memory-efficient approach for 3D semantic occupancy prediction from monocular image input using dense prediction transformers. To address the limitations of existing methods trained on structured traffic datasets, we…

In NeRF, a critical problem is to effectively estimate the occupancy to guide empty-space skipping and point sampling. Grid-based methods work well for small-scale scenes. However, on large-scale scenes, they are limited by predefined…

Estimating continuous optical flow is a fundamental yet challenging problem in dynamic visual perception. Event-based cameras, with microsecond latency and high dynamic range, capture brightness changes asynchronously, offering a unique…

3D Language Gaussian Splatting (3DLGS) augments 3D Gaussian Splatting with language-aligned visual features for open-vocabulary 3D scene understanding. A core challenge is efficiently associating high-dimensional vision-language embeddings…

3D Gaussian Splatting (3DGS) has become an emerging tool for dynamic scene reconstruction. However, existing methods focus mainly on extending static 3DGS into a time-variant representation, while overlooking the rich motion information…

Vision-based 3D semantic occupancy prediction is a critical task in 3D vision that integrates volumetric 3D reconstruction with semantic understanding. Existing methods, however, often rely on modular pipelines. These modules are typically…

We present STORM, a spatio-temporal reconstruction model designed for reconstructing dynamic outdoor scenes from sparse observations. Existing dynamic reconstruction methods often rely on per-scene optimization, dense observations across…

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect…

Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…

Multimodal 3D occupancy prediction has garnered significant attention for its potential in autonomous driving. However, most existing approaches are single-modality: camera-based methods lack depth information, while LiDAR-based methods…