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

Representing the 3D environment with instance-aware semantic and geometric information is crucial for interaction-aware robots in dynamic environments. Nevertheless, creating such a representation poses challenges due to sensor noise,…

BEV-based 3D perception has emerged as a focal point of research in end-to-end autonomous driving. However, existing BEV approaches encounter significant challenges due to the large feature space, complicating efficient modeling and…

Existing learning-based occupancy prediction methods rely on large-scale 3D annotations and generalize poorly across environments. We present FreeOcc, a training-free framework for open-vocabulary occupancy prediction from monocular or…

We present a novel approach for enhancing robotic exploration by using generative occupancy mapping. We implement SceneSense, a diffusion model designed and trained for predicting 3D occupancy maps given partial observations. Our proposed…

We present GDFusion, a temporal fusion method for vision-based 3D semantic occupancy prediction (VisionOcc). GDFusion opens up the underexplored aspects of temporal fusion within the VisionOcc framework, focusing on both temporal cues and…

Humans can infer the missing parts of an occluded object by leveraging prior knowledge and visible cues. However, enabling deep learning models to accurately predict such occluded regions remains a challenging task. De-occlusion addresses…

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…

Recent diffusion models have demonstrated remarkable performance in both 3D scene generation and perception tasks. Nevertheless, existing methods typically separate these two processes, acting as a data augmenter to generate synthetic data…

Scene rearrangement, like table tidying, is a challenging task in robotic manipulation due to the complexity of predicting diverse object arrangements. Web-scale trained generative models such as Stable Diffusion can aid by generating…

Reconstructing static 3D scene from monocular video with dynamic objects is important for numerous applications such as virtual reality and autonomous driving. Current approaches typically rely on background for static scene reconstruction,…

This paper presents two variations of a novel stochastic prediction algorithm that enables mobile robots to accurately and robustly predict the future state of complex dynamic scenes. The proposed algorithm uses a variational autoencoder to…

In recent years, visual 3D Semantic Scene Completion (SSC) has emerged as a critical perception task for autonomous driving due to its ability to infer complete 3D scene layouts and semantics from single 2D images. However, in real-world…

Implicit Neural Representations have gained prominence as a powerful framework for capturing complex data modalities, encompassing a wide range from 3D shapes to images and audio. Within the realm of 3D shape representation, Neural Signed…

Scan data of urban environments often include representations of dynamic objects, such as vehicles, pedestrians, and so forth. However, when it comes to constructing a 3D point cloud map with sequential accumulations of the scan data, the…

Camera-based 3D semantic scene completion (SSC) is pivotal for predicting complicated 3D layouts with limited 2D image observations. The existing mainstream solutions generally leverage temporal information by roughly stacking history…

The completion, extension, and generation of 3D semantic scenes are an interrelated set of capabilities that are useful for robotic navigation and exploration. Existing approaches seek to decouple these problems and solve them one-off.…

Real-time monocular 3D reconstruction is a challenging problem that remains unsolved. Although recent end-to-end methods have demonstrated promising results, tiny structures and geometric boundaries are hardly captured due to their…

The Security-Constrained Unit Commitment (SCUC) problem presents formidable computational challenges due to its combinatorial complexity, large-scale network dimensions, and numerous security constraints. While conventional temporal…

Spatial time series visualization offers scientific research pathways and analytical decision-making tools across various spatiotemporal domains. Despite many advanced methodologies, the seamless integration of temporal and spatial…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…