相关论文: SHTOcc: Effective 3D Occupancy Prediction with Spa…

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…

Real-world visual data often exhibits a long-tailed distribution, where some ''head'' classes have a large number of samples, yet only a few samples are available for ''tail'' classes. Such imbalanced distribution causes a great challenge…

Long-tailed recognition suffers from a persistent head--tail trade-off: improving tail performance often degrades head accuracy and can increase training instability. Despite strong empirical results from re-weighting, decoupled training,…

Occupancy Network has recently attracted much attention in autonomous driving. Instead of monocular 3D detection and recent bird's eye view(BEV) models predicting 3D bounding box of obstacles, Occupancy Network predicts the category of…

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…

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…

Despite recent advancements in out-of-distribution (OOD) detection, most current studies assume a class-balanced in-distribution training dataset, which is rarely the case in real-world scenarios. This paper addresses the challenging task…

The creation of high-fidelity 3D assets is often hindered by a 'pixel-level pain point': the loss of high-frequency details. Existing methods often trade off one aspect for another: either sacrificing cross-view consistency, resulting in…

Real-world data often exhibits long tail distributions with heavy class imbalance, where the majority classes can dominate the training process and alter the decision boundaries of the minority classes. Recently, researchers have…

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…

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…

3D occupancy perception holds a pivotal role in recent vision-centric autonomous driving systems by converting surround-view images into integrated geometric and semantic representations within dense 3D grids. Nevertheless, current models…

A thorough and holistic scene understanding is crucial for autonomous vehicles, where LiDAR semantic segmentation plays an indispensable role. However, most existing methods focus on the network design while neglecting the inherent…

In this work, we demonstrate how differentiable stochastic sampling techniques developed in the context of deep Reinforcement Learning can be used to perform efficient parameter inference over stochastic, simulation-based, forward models.…

Recent progress in self- and weakly supervised occupancy estimation has largely relied on 2D projection or rendering-based supervision, which suffers from geometric inconsistencies and severe depth bleeding. We thus introduce ShelfOcc, a…

Vision-based 3D semantic scene completion (SSC) describes autonomous driving scenes through 3D volume representations. However, the occlusion of invisible voxels by scene surfaces poses challenges to current SSC methods in hallucinating…

This paper introduces a novel architecture for trajectory-conditioned forecasting of future 3D scene occupancy. In contrast to methods that rely on variational autoencoders (VAEs) to generate discrete occupancy tokens, which inherently…

3D occupancy-based perception pipeline has significantly advanced autonomous driving by capturing detailed scene descriptions and demonstrating strong generalizability across various object categories and shapes. Current methods…

Though Self-supervised learning (SSL) has been widely studied as a promising technique for representation learning, it doesn't generalize well on long-tailed datasets due to the majority classes dominating the feature space. Recent work…

Long-tailed data distributions pose challenges for a variety of domains like e-commerce, finance, biomedical science, and cyber security, where the performance of machine learning models is often dominated by head categories while tail…