相关论文: OccCylindrical: Multi-Modal Fusion with Cylindrica…

Obtaining high-quality 3D semantic occupancy from raw sensor data remains an essential yet challenging task, often requiring extensive manual labeling. In this work, we propose AutoOcc, a vision-centric automated pipeline for open-ended…

We revisit Semantic Scene Completion (SSC), a useful task to predict the semantic and occupancy representation of 3D scenes, in this paper. A number of methods for this task are always based on voxelized scene representations for keeping…

Learning 3D scene geometry and semantics from images is a core challenge in computer vision and a key capability for autonomous driving. Since large-scale 3D annotation is prohibitively expensive, recent work explores self-supervised…

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…

The 3D occupancy estimation task has become an important challenge in the area of vision-based autonomous driving recently. However, most existing camera-based methods rely on costly 3D voxel labels or LiDAR scans for training, limiting…

While 2D occupancy maps commonly used in mobile robotics enable safe navigation in indoor environments, in order for robots to understand and interact with their environment and its inhabitants representing 3D geometry and semantic…

3D semantic occupancy prediction is an important task for robust vision-centric autonomous driving, which predicts fine-grained geometry and semantics of the surrounding scene. Most existing methods leverage dense grid-based scene…

Camera-based 3D semantic scene completion (SSC) offers a cost-effective solution for assessing the geometric occupancy and semantic labels of each voxel in the surrounding 3D scene with image inputs, providing a voxel-level scene perception…

High-definition (HD) maps play a crucial role in autonomous driving systems. Recent methods have attempted to construct HD maps in real-time using vehicle onboard sensors. Due to the inherent limitations of onboard sensors, which include…

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…

Inspired by the fact that humans use diverse sensory organs to perceive the world, sensors with different modalities are deployed in end-to-end driving to obtain the global context of the 3D scene. In previous works, camera and LiDAR inputs…

Multi-view cooperative perception and multimodal fusion are essential for reliable 3D spatiotemporal understanding in autonomous driving, especially under occlusions, limited viewpoints, and communication delays in V2X scenarios. This paper…

Developing 3D semantic occupancy prediction models often relies on dense 3D annotations for supervised learning, a process that is both labor and resource-intensive, underscoring the need for label-efficient or even label-free approaches.…

3D object detection is a common function within the perception system of an autonomous vehicle and outputs a list of 3D bounding boxes around objects of interest. Various 3D object detection methods have relied on fusion of different sensor…

Accurate and high-fidelity driving scene reconstruction relies on fully leveraging scene information as conditioning. However, existing approaches, which primarily use 3D bounding boxes and binary maps for foreground and background control,…

3D Semantic Scene Completion (SSC) provides comprehensive scene geometry and semantics for autonomous driving perception, which is crucial for enabling accurate and reliable decision-making. However, existing SSC methods are limited to…

Multi-sensor frameworks provide opportunities for ensemble learning and sensor fusion to make use of redundancy and supplemental information, helpful in real-world safety applications such as continuous driver state monitoring which…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

Leveraging multiple sensors is crucial for robust semantic perception in autonomous driving, as each sensor type has complementary strengths and weaknesses. However, existing sensor fusion methods often treat sensors uniformly across all…

Existing vision-based 3D occupancy prediction methods are inherently limited in accuracy due to their exclusive reliance on street-view imagery, neglecting the potential benefits of incorporating satellite views. We propose SA-Occ, the…