相关论文: FMOcc: TPV-Driven Flow Matching for 3D Occupancy P…

Maintaining an up-to-date map to reflect recent changes in the scene is very important, particularly in situations involving repeated traversals by a robot operating in an environment over an extended period. Undetected changes may cause a…

We tackle the problem of estimating optical flow from a monocular camera in the context of autonomous driving. We build on the observation that the scene is typically composed of a static background, as well as a relatively small number of…

Vision-Language Models (VLMs) demand substantial computational resources during inference, largely due to the extensive visual input tokens for representing visual information. Previous studies have noted that visual tokens tend to receive…

3D occupancy prediction is critical for comprehensive scene understanding in vision-centric autonomous driving. Recent advances have explored utilizing 3D semantic Gaussians to model occupancy while reducing computational overhead, but they…

We propose Occupancy Flow Fields, a new representation for motion forecasting of multiple agents, an important task in autonomous driving. Our representation is a spatio-temporal grid with each grid cell containing both the probability of…

Scene flow estimation is the task to predict the point-wise or pixel-wise 3D displacement vector between two consecutive frames of point clouds or images, which has important application in fields such as service robots and autonomous…

A novel data-driven method of modal analysis for complex flow dynamics, termed as reduced-order variational mode decomposition (RVMD), has been proposed, combining the idea of the separation of variables and a state-of-the-art nonstationary…

This paper introduces a novel architecture for trajectory-conditioned forecasting of future 3D scene occupancy. In contrast to methods that rely on variational autoencoders (VAEs) to generate discrete occupancy tokens, which inherently…

Human driver can easily describe the complex traffic scene by visual system. Such an ability of precise perception is essential for driver's planning. To achieve this, a geometry-aware representation that quantizes the physical 3D scene…

Offline vectorized maps constitute critical infrastructure for high-precision autonomous driving and mapping services. Existing approaches rely predominantly on single ego-vehicle trajectories, which fundamentally suffer from viewpoint…

Understanding the world around us and making decisions about the future is a critical component to human intelligence. As autonomous systems continue to develop, their ability to reason about the future will be the key to their success.…

Semantic occupancy prediction aims to infer dense geometry and semantics of surroundings for an autonomous agent to operate safely in the 3D environment. Existing occupancy prediction methods are almost entirely trained on human-annotated…

Understanding the motion states of the surrounding environment is critical for safe autonomous driving. These motion states can be accurately derived from scene flow, which captures the three-dimensional motion field of points. Existing…

We propose a novel end-to-end deep scene flow model, called PointPWC-Net, on 3D point clouds in a coarse-to-fine fashion. Flow computed at the coarse level is upsampled and warped to a finer level, enabling the algorithm to accommodate for…

We propose an end-to-end learned video compression scheme for low-latency scenarios. Previous methods are limited in using the previous one frame as reference. Our method introduces the usage of the previous multiple frames as references.…

Optical flow and disparity are two informative visual features for autonomous driving perception. They have been used for a variety of applications, such as obstacle and lane detection. The concept of "U-V-Disparity" has been widely…

Centralized trajectory optimization in the joint space of multiple robots allows access to a larger feasible space that can result in smoother trajectories, especially while planning in tight spaces. Unfortunately, it is often…

Understanding how the surrounding environment changes is crucial for performing downstream tasks safely and reliably in autonomous driving applications. Recent occupancy estimation techniques using only camera images as input can provide…

We introduce LOcc, an effective and generalizable framework for open-vocabulary occupancy (OVO) prediction. Previous approaches typically supervise the networks through coarse voxel-to-text correspondences via image features as…

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…