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

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…

Collaborative perception enables connected vehicles to share information, overcoming occlusions and extending the limited sensing range inherent in single-agent (non-collaborative) systems. Existing vision-only methods for 3D semantic…

Multi-sensor fusion is essential for an accurate and reliable autonomous driving system. Recent approaches are based on point-level fusion: augmenting the LiDAR point cloud with camera features. However, the camera-to-LiDAR projection…

Multimodal integration is a key component of allowing robots to perceive the world. Multimodality comes with multiple challenges that have to be considered, such as how to integrate and fuse the data. In this paper, we compare different…

Estimating 3D occupancy and motion at the vehicle's surroundings is essential for autonomous driving, enabling situational awareness in dynamic environments. Existing approaches jointly learn geometry and motion but rely on expensive 3D…

Semantic segmentation of large-scale 3D point clouds is crucial for applications such as autonomous driving and urban digital twins. However, the sparse sampling pattern of LiDAR and the view-dependent geometric distortion in image…

In the field of autonomous driving, accurate and comprehensive perception of the 3D environment is crucial. Bird's Eye View (BEV) based methods have emerged as a promising solution for 3D object detection using multi-view images as input.…

Understanding and reconstructing the 3D world through omnidirectional perception is an inevitable trend in the development of autonomous agents and embodied intelligence. However, existing 3D occupancy prediction methods are constrained by…

In recent years, the research community has shown a lot of interest to panoramic images that offer a 360-degree directional perspective. Multiple data modalities can be fed, and complimentary characteristics can be utilized for more robust…

In this paper, we introduce Vox-Fusion++, a multi-maps-based robust dense tracking and mapping system that seamlessly fuses neural implicit representations with traditional volumetric fusion techniques. Building upon the concept of implicit…

In autonomous driving, Vision Language Models (VLMs) excel at high-level reasoning , whereas semantic occupancy provides fine-grained details. Despite significant progress in individual fields, there is still no method that can effectively…

Semantic scene completion (SSC) requires an accurate understanding of the geometric and semantic relationships between the objects in the 3D scene for reasoning the occluded objects. The popular SSC methods voxelize the 3D objects, allowing…

3D occupancy prediction holds significant promise in the fields of robot perception and autonomous driving, which quantifies 3D scenes into grid cells with semantic labels. Recent works mainly utilize complete occupancy labels in 3D voxel…

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…

Given the capability of mitigating the long-tail deficiencies and intricate-shaped absence prevalent in 3D object detection, occupancy prediction has become a pivotal component in autonomous driving systems. However, the procession of…

Deep learning approaches for Visual-Inertial Odometry (VIO) have proven successful, but they rarely focus on incorporating robust fusion strategies for dealing with imperfect input sensory data. We propose a novel end-to-end selective…

3D semantic occupancy prediction aims to reconstruct the 3D geometry and semantics of the surrounding environment. With dense voxel labels, prior works typically formulate it as a dense segmentation task, independently classifying each…

3D occupancy prediction has recently emerged as a new paradigm for holistic 3D scene understanding and provides valuable information for downstream planning in autonomous driving. Most existing methods, however, are computationally…

The resolution of voxel queries significantly influences the quality of view transformation in camera-based 3D occupancy prediction. However, computational constraints and the practical necessity for real-time deployment require smaller…

Multi-sensor fusion is crucial for improving the performance and robustness of end-to-end autonomous driving systems. Existing methods predominantly adopt either attention-based flatten fusion or bird's eye view fusion through geometric…