相关论文: IPFormer: Visual 3D Panoptic Scene Completion with…

Vision-based Semantic Scene Completion (SSC) has gained much attention due to its widespread applications in various 3D perception tasks. Existing sparse-to-dense approaches typically employ shared context-independent queries across various…

Semantic Scene Completion aims at reconstructing a complete 3D scene with precise voxel-wise semantics from a single-view depth or RGBD image. It is a crucial but challenging problem for indoor scene understanding. In this work, we present…

We propose the task of Panoptic Scene Completion (PSC) which extends the recently popular Semantic Scene Completion (SSC) task with instance-level information to produce a richer understanding of the 3D scene. Our PSC proposal utilizes a…

Panoramic image enables deeper understanding and more holistic perception of $360^\circ$ surrounding environment, which can naturally encode enriched scene context information compared to standard perspective image. Previous work has made…

Most existing methods realize 3D instance segmentation by extending those models used for 3D object detection or 3D semantic segmentation. However, these non-straightforward methods suffer from two drawbacks: 1) Imprecise bounding boxes or…

Semantic Scene Completion (SSC) aims to jointly generate space occupancies and semantic labels for complex 3D scenes. Most existing SSC models focus on volumetric representations, which are memory-inefficient for large outdoor spaces. Point…

In recent years, transformer-based models have exhibited considerable potential in point cloud instance segmentation. Despite the promising performance achieved by existing methods, they encounter challenges such as instance query…

3D semantic scene understanding is a fundamental challenge in computer vision. It enables mobile agents to autonomously plan and navigate arbitrary environments. SSC formalizes this challenge as jointly estimating dense geometry and…

3D Semantic Scene Completion (SSC) provides comprehensive scene geometry and semantics for autonomous driving perception, which is crucial for enabling accurate and reliable decision-making. However, existing SSC methods are limited to…

Most existing 3D instance segmentation methods are derived from 3D semantic segmentation models. However, these indirect approaches suffer from certain limitations. They fail to fully leverage global and local semantic information for…

This paper presents a novel framework to integrate both semantic and instance contexts for panoptic segmentation. In existing works, it is common to use a shared backbone to extract features for both things (countable classes such as…

4D millimeter-wave radar has emerged as a promising sensing modality for autonomous driving due to its robustness and affordability. However, its sparse and weak geometric cues make reliable instance activation difficult, limiting the…

3D Semantic Scene Completion (SSC) has gained increasing attention due to its pivotal role in 3D perception. Recent advancements have primarily focused on refining voxel-level features to construct 3D scenes. However, treating voxels as the…

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…

Semantic Scene Completion (SSC) constitutes a pivotal element in autonomous driving perception systems, tasked with inferring the 3D semantic occupancy of a scene from sensory data. To improve accuracy, prior research has implemented…

Vision-based 3D Semantic Scene Completion (SSC) has received growing attention due to its potential in autonomous driving. While most existing approaches follow an ego-centric paradigm by aggregating and diffusing features over the entire…

In recent years, visual 3D Semantic Scene Completion (SSC) has emerged as a critical perception task for autonomous driving due to its ability to infer complete 3D scene layouts and semantics from single 2D images. However, in real-world…

We propose PSFormer, an effective point transformer model for 3D salient object detection. PSFormer is an encoder-decoder network that takes full advantage of transformers to model the contextual information in both multi-scale point- and…

`3D Semantic Scene Completion (SSC) has emerged as a nascent and pivotal undertaking in autonomous driving, aiming to predict voxel occupancy within volumetric scenes. However, prevailing methodologies primarily focus on voxel-wise feature…

Semantic Scene Completion (SSC) aims to simultaneously predict the volumetric occupancy and semantic category of a 3D scene. It helps intelligent devices to understand and interact with the surrounding scenes. Due to the high-memory…