相关论文: OC-SOP: Enhancing Vision-Based 3D Semantic Occupan…

3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…

3D semantic occupancy and flow prediction are fundamental to spatiotemporal scene understanding. This paper proposes a vision-based framework with three targeted improvements. First, we introduce an occlusion-aware adaptive lifting…

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…

Semantic occupancy prediction enables dense 3D geometric and semantic understanding for autonomous driving. However, existing camera-based approaches implicitly assume complete surround-view observations, an assumption that rarely holds in…

3D semantic occupancy prediction is crucial for autonomous driving, providing a dense, semantically rich environmental representation. However, existing methods focus on in-distribution scenes, making them susceptible to Out-of-Distribution…

3D semantic occupancy prediction offers an intuitive and efficient scene understanding and has attracted significant interest in autonomous driving perception. Existing approaches either rely on full supervision, which demands costly…

Given a single RGB image of a complex outdoor road scene in the perspective view, we address the novel problem of estimating an occlusion-reasoned semantic scene layout in the top-view. This challenging problem not only requires an accurate…

Semantic occupancy perception is essential for autonomous driving, as automated vehicles require a fine-grained perception of the 3D urban structures. However, existing relevant benchmarks lack diversity in urban scenes, and they only…

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…

Autonomous vehicles need a complete map of their surroundings to plan and act. This has sparked research into the tasks of 3D occupancy prediction, 3D scene completion, and 3D panoptic scene completion, which predict a dense map of the ego…

3D occupancy becomes a promising perception representation for autonomous driving to model the surrounding environment at a fine-grained scale. However, it remains challenging to efficiently aggregate 3D occupancy over time across multiple…

Robotic perception requires the modeling of both 3D geometry and semantics. Existing methods typically focus on estimating 3D bounding boxes, neglecting finer geometric details and struggling to handle general, out-of-vocabulary objects. 3D…

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.…

3D semantic occupancy prediction, which seeks to provide accurate and comprehensive representations of environment scenes, is important to autonomous driving systems. For autonomous cars equipped with multi-camera and LiDAR, it is critical…

Visual Odometry (VO) plays a pivotal role in autonomous systems, with a principal challenge being the lack of depth information in camera images. This paper introduces OCC-VO, a novel framework that capitalizes on recent advances in deep…

In perception for automated vehicles, safety is critical not only for the driver but also for other agents in the scene, particularly vulnerable road users such as pedestrians and cyclists. Previous representation methods, such as Bird's…

Autonomous driving requires robust perception across diverse environmental conditions, yet 3D semantic occupancy prediction remains challenging under adverse weather and lighting. In this work, we present the first study combining 4D radar…

Detection and segmentation of moving obstacles, along with prediction of the future occupancy states of the local environment, are essential for autonomous vehicles to proactively make safe and informed decisions. In this paper, we propose…

For autonomous vehicles to proactively plan safe trajectories and make informed decisions, they must be able to predict the future occupancy states of the local environment. However, common issues with occupancy prediction include…

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…