相关论文: OccLE: Label-Efficient 3D Semantic Occupancy Predi…

The comprehensive representation and understanding of the driving environment is crucial to improve the safety and reliability of autonomous vehicles. In this paper, we present a new approach to establish an environment model containing a…

To safely deploy autonomous vehicles, onboard perception systems must work reliably at high accuracy across a diverse set of environments and geographies. One of the most common techniques to improve the efficacy of such systems in new…

Accurate 3D perception is essential for autonomous driving. Traditional methods often struggle with geometric ambiguity due to a lack of geometric prior. To address these challenges, we use omnidirectional depth estimation to introduce…

3D semantic occupancy prediction is a cornerstone for embodied AI, enabling agents to perceive dense scene geometry and semantics incrementally from monocular video streams. However, current online frameworks face two critical bottlenecks:…

This paper focuses on semantic scene completion, a task for producing a complete 3D voxel representation of volumetric occupancy and semantic labels for a scene from a single-view depth map observation. Previous work has considered scene…

3D object detection is essential for autonomous driving and robotic perception, yet its reliance on large-scale manually annotated data limits scalability and adaptability. To reduce annotation dependency, unsupervised and…

Determining the occupancy status of locations in the environment is a fundamental task for safety-critical robotic applications. Traditional occupancy grid mapping methods subdivide the environment into a grid of voxels, each associated…

Multi-sensor fusion significantly enhances the accuracy and robustness of 3D semantic occupancy prediction, which is crucial for autonomous driving and robotics. However, most existing approaches depend on high-resolution images and complex…

One of the most important parts of environment perception is the detection of obstacles in the surrounding of the vehicle. To achieve that, several sensors like radars, LiDARs and cameras are installed in autonomous vehicles. The produced…

Monocular 3D object tracking aims to estimate temporally consistent 3D object poses across video frames, enabling autonomous agents to reason about scene dynamics. However, existing state-of-the-art approaches are fully supervised and rely…

Semantic and panoptic occupancy prediction for road scene analysis provides a dense 3D representation of the ego vehicle's surroundings. Current camera-only approaches typically rely on costly dense 3D supervision or require training models…

In this paper, we introduce ProtoOcc, a novel 3D occupancy prediction model designed to predict the occupancy states and semantic classes of 3D voxels through a deep semantic understanding of scenes. ProtoOcc consists of two main…

Open-vocabulary object detection (OVD) aims to recognize and localize object categories beyond the training set. Recent approaches leverage vision-language models to generate pseudo-labels using image-text alignment, allowing detectors to…

Learning to build 3D scene graphs is essential for real-world perception in a structured and rich fashion. However, previous 3D scene graph generation methods utilize a fully supervised learning manner and require a large amount of…

Recent trends in semi-supervised learning have significantly boosted the performance of 3D semi-supervised medical image segmentation. Compared with 2D images, 3D medical volumes involve information from different directions, e.g.,…

Vision-Language Models (VLMs) adapted to remote sensing rely heavily on domain-specific image-text supervision, yet high-quality annotations for satellite and aerial imagery remain scarce and expensive to produce. Prevailing pseudo-labeling…

Joint optimization of poses and features has been extensively studied and demonstrated to yield more accurate results in feature-based SLAM problems. However, research on jointly optimizing poses and non-feature-based maps remains limited.…

3D Panoptic Occupancy Prediction aims to reconstruct a dense volumetric scene map by predicting the semantic class and instance identity of every occupied region in 3D space. Achieving such fine-grained 3D understanding requires precise…

Predicting how the world can evolve in the future is crucial for motion planning in autonomous systems. Classical methods are limited because they rely on costly human annotations in the form of semantic class labels, bounding boxes, and…

Autonomous driving in complex urban scenarios requires 3D perception to be both comprehensive and precise. Traditional 3D perception methods focus on object detection, resulting in sparse representations that lack environmental detail.…