相关论文: GraphGSOcc: Semantic-Geometric Graph Transformer w…

Understanding 3D scenes semantically and spatially is crucial for the safe navigation of robots and autonomous vehicles, aiding obstacle avoidance and accurate trajectory planning. Camera-based 3D semantic occupancy prediction, which infers…

Understanding the geometric and semantic structure of environments is essential for embodied navigation and reasoning. Existing semantic mapping methods trade off between explicit geometry and multi-scale semantics, and lack a native…

Most 3D Gaussian Splatting (3D-GS) based methods for urban scenes initialize 3D Gaussians directly with 3D LiDAR points, which not only underutilizes LiDAR data capabilities but also overlooks the potential advantages of fusing LiDAR with…

Implicit neural representations and 3D Gaussian splatting (3DGS) have shown great potential for scene reconstruction. Recent studies have expanded their applications in autonomous reconstruction through task assignment methods. However,…

Maintaining an up-to-date map that accurately reflects recent changes in the environment is crucial, especially for robots that repeatedly traverse the same space. Failing to promptly update the changed regions can degrade map quality,…

Recently, immersive media and autonomous driving applications have significantly advanced through 3D Gaussian Splatting (3DGS), which offers high-fidelity rendering and computational efficiency. Despite these advantages, 3DGS as a…

3D occupancy prediction has attracted much attention in the field of autonomous driving due to its powerful geometric perception and object recognition capabilities. However, existing methods have not explored the most essential…

3D Gaussian Splatting (3DGS) has emerged as a powerful technique for real-time, high-resolution novel view synthesis. By representing scenes as a mixture of Gaussian primitives, 3DGS leverages GPU rasterization pipelines for efficient…

We present SOccDPT, a memory-efficient approach for 3D semantic occupancy prediction from monocular image input using dense prediction transformers. To address the limitations of existing methods trained on structured traffic datasets, we…

3D Gaussian Splatting (3DGS) has emerged as a novel explicit representation for 3D scenes, offering both high-fidelity reconstruction and efficient rendering. However, 3DGS lacks 3D segmentation ability, which limits its applicability in…

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…

Panoptic occupancy poses a novel challenge by aiming to integrate instance occupancy and semantic occupancy within a unified framework. However, there is still a lack of efficient solutions for panoptic occupancy. In this paper, we propose…

3D Gaussian Splatting (3DGS) has demonstrated remarkable performance in novel view synthesis and 3D scene reconstruction, yet its quality often degrades in real-world environments due to transient distractors, such as moving objects and…

The rapid growth of 3D Gaussian Splatting (3DGS) has revolutionized neural rendering, enabling real-time production of high-quality renderings. However, the previous 3DGS-based methods have limitations in urban scenes due to reliance on…

The prediction of 3D semantic occupancy enables autonomous vehicles (AVs) to perceive the fine-grained geometric and semantic scene structure for safe navigation and decision-making. Existing methods mainly rely on either voxel-based…

3D occupancy prediction is an important task for the robustness of vision-centric autonomous driving, which aims to predict whether each point is occupied in the surrounding 3D space. Existing methods usually require 3D occupancy labels to…

Exploiting long-range contextual information is key for pixel-wise prediction tasks such as semantic segmentation. In contrast to previous work that uses multi-scale feature fusion or dilated convolutions, we propose a novel…

This paper investigates an open research challenge of reconstructing high-quality, large 3D open scenes from images. It is observed existing methods have various limitations, such as requiring precise camera poses for input and dense…

Semantic understanding of 3D scenes is essential for robots to operate effectively and safely in complex environments. Existing methods for semantic scene reconstruction and semantic-aware novel view synthesis often rely on dense multi-view…

The semantic synthesis of unseen scenes from multiple viewpoints is crucial for research in 3D scene understanding. Current methods are capable of rendering novel-view images and semantic maps by reconstructing generalizable Neural Radiance…