相关论文: A Synthetic Benchmark for Collaborative 3D Semanti…

Spatiotemporal intelligence in autonomous driving (AD) requires an agent to integrate multi-view observations into a coherent scene representation, maintain object continuity across viewpoints and time, and reason about spatial relations,…

Occupancy prediction has garnered increasing attention in recent years for its comprehensive fine-grained environmental representation and strong generalization to open-set objects. However, cumbersome voxel features and 3D convolution…

The effectiveness of autonomous vehicles relies on reliable perception capabilities. Despite significant advancements in artificial intelligence and sensor fusion technologies, current single-vehicle perception systems continue to encounter…

Infrastructure sensors installed at elevated positions offer a broader perception range and encounter fewer occlusions. Integrating both infrastructure and ego-vehicle data through V2X communication, known as vehicle-infrastructure…

Camera-based 3D Semantic Occupancy Prediction (SOP) is crucial for understanding complex 3D scenes from limited 2D image observations. Existing SOP methods typically aggregate contextual features to assist the occupancy representation…

As a novel 3D scene representation, semantic occupancy has gained much attention in autonomous driving. However, existing occupancy prediction methods mainly focus on designing better occupancy representations, such as tri-perspective view…

Vision-based 3D occupancy prediction is significantly challenged by the inherent limitations of monocular vision in depth estimation. This paper introduces CVT-Occ, a novel approach that leverages temporal fusion through the geometric…

Collaborative decision-making is an essential capability for multi-robot systems, such as connected vehicles, to collaboratively control autonomous vehicles in accident-prone scenarios. Under limited communication bandwidth, capturing…

This survey offers a comprehensive examination of collaborative perception datasets in the context of Vehicle-to-Infrastructure (V2I), Vehicle-to-Vehicle (V2V), and Vehicle-to-Everything (V2X). It highlights the latest developments in…

Connected Autonomous Vehicles (CAVs) benefit from Vehicle-to-Everything (V2X) communication, which enables the exchange of sensor data to achieve Collaborative Perception (CP). To reduce cumulative errors in perception modules and mitigate…

We present a novel approach for enhancing robotic exploration by using generative occupancy mapping. We implement SceneSense, a diffusion model designed and trained for predicting 3D occupancy maps given partial observations. Our proposed…

Semantic segmentation and stereo matching are two essential components of 3D environmental perception systems for autonomous driving. Nevertheless, conventional approaches often address these two problems independently, employing separate…

Seamless integration of virtual and physical worlds in augmented reality benefits from the system semantically "understanding" the physical environment. AR research has long focused on the potential of context awareness, demonstrating novel…

Cooperative perception offers several benefits for enhancing the capabilities of autonomous vehicles and improving road safety. Using roadside sensors in addition to onboard sensors increases reliability and extends the sensor range.…

In this paper, we propose to learn shared semantic space with correlation alignment (${S}^{3}CA$) for multimodal data representations, which aligns nonlinear correlations of multimodal data distributions in deep neural networks designed for…

Occupancy prediction infers fine-grained 3D geometry and semantics from camera images of the surrounding environment, making it a critical perception task for autonomous driving. Existing methods either adopt dense grids as scene…

Accurate perception of the dynamic environment is a fundamental task for autonomous driving and robot systems. This paper introduces Let Occ Flow, the first self-supervised work for joint 3D occupancy and occupancy flow prediction using…

Inferring the 3D structure from a single image, particularly in occluded regions, remains a fundamental yet unsolved challenge in vision-centric autonomous driving. Existing unsupervised approaches typically train a neural radiance field…

Existing Vehicle-to-Everything (V2X) cooperative perception methods rely on accurate multi-agent 3D annotations. Nevertheless, it is time-consuming and expensive to collect and annotate real-world data, especially for V2X systems. In this…

Motion prediction is a challenging task for autonomous vehicles due to uncertainty in the sensor data, the non-deterministic nature of future, and complex behavior of agents. In this paper, we tackle this problem by representing the scene…