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

Existing generative approaches for guided image synthesis of multi-object scenes typically rely on 2D controls in the image or text space. As a result, these methods struggle to maintain and respect consistent three-dimensional geometric…

World building with 3D scene representations is increasingly important for content creation, simulation, and interactive experiences, yet real workflows are inherently iterative: creators must repeatedly extend an existing scene under user…

Motion prediction is an important aspect for Autonomous Driving (AD) and Advance Driver Assistance Systems (ADAS). Current state-of-the-art motion prediction methods rely on High Definition (HD) maps for capturing the surrounding context of…

Semantic scene completion (SSC) aims to predict complete 3D voxel occupancy and semantics from a single-view RGB-D image, and recent SSC methods commonly adopt multi-modal inputs. However, our investigation reveals two limitations:…

The Depth-aware Video Panoptic Segmentation (DVPS) is a new challenging vision problem that aims to predict panoptic segmentation and depth in a video simultaneously. The previous work solves this task by extending the existing panoptic…

Trajectory prediction in autonomous driving relies on accurate representation of all relevant contexts of the driving scene, including traffic participants, road topology, traffic signs, as well as their semantic relations to each other.…

In this paper, we rethink the problem of scene reconstruction from an embodied agent's perspective: While the classic view focuses on the reconstruction accuracy, our new perspective emphasizes the underlying functions and constraints such…

Multi-Object Tracking (MOT) aims to associate multiple objects across video frames and is a challenging vision task due to inherent complexities in the tracking environment. Most existing approaches train and track within a single domain,…

Continual learning for segmentation has recently seen increasing interest. However, all previous works focus on narrow semantic segmentation and disregard panoptic segmentation, an important task with real-world impacts. %a In this paper,…

Holistic scene understanding includes semantic segmentation, surface normal estimation, object boundary detection, depth estimation, etc. The key aspect of this problem is to learn representation effectively, as each subtask builds upon not…

We introduce Consistent Instance Field, a continuous and probabilistic spatio-temporal representation for dynamic scene understanding. Unlike prior methods that rely on discrete tracking or view-dependent features, our approach disentangles…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

In order to deal with the task of video panoptic segmentation in the wild, we propose a robust integrated video panoptic segmentation solution. In our solution, we regard the video panoptic segmentation task as a segmentation target…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

Camera-based 3D semantic scene completion (SSC) is pivotal for predicting complicated 3D layouts with limited 2D image observations. The existing mainstream solutions generally leverage temporal information by roughly stacking history…

Indoor scene understanding remains a fundamental challenge in robotics, with direct implications for downstream tasks such as navigation and manipulation. Traditional approaches often rely on closed-set recognition or loop closure, limiting…

Camera-based 3D Semantic Scene Completion (SSC) is a critical task in autonomous driving systems, assessing voxel-level geometry and semantics for holistic scene perception. While existing voxel-based and plane-based SSC methods have…

Holistic understanding and reasoning in 3D scenes are crucial for the success of autonomous driving systems. The evolution of 3D semantic occupancy prediction as a pretraining task for autonomous driving and robotic applications captures…

Panoptic scene understanding and tracking of dynamic agents are essential for robots and automated vehicles to navigate in urban environments. As LiDARs provide accurate illumination-independent geometric depictions of the scene, performing…

Semantic segmentation assigns labels to pixels in images, a critical yet challenging task in computer vision. Convolutional methods, although capturing local dependencies well, struggle with long-range relationships. Vision Transformers…