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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:…

Humans are excellent at perceiving illusory outlines. We are readily able to complete contours, shapes, scenes, and even unseen objects when provided with images that contain broken fragments of a connected appearance. In vision science,…

3D semantic occupancy prediction has emerged as a critical perception task for autonomous driving due to its ability to offer voxel-level semantic and geometric understanding of the environment. However, such a refined representation for…

Estimating 3D scene flow from a sequence of monocular images has been gaining increased attention due to the simple, economical capture setup. Owing to the severe ill-posedness of the problem, the accuracy of current methods has been…

Given two consecutive frames from a pair of stereo cameras, 3D scene flow methods simultaneously estimate the 3D geometry and motion of the observed scene. Many existing approaches use superpixels for regularization, but may predict…

In this paper, we introduce Semi-SMD, a novel metric depth estimation framework tailored for surrounding cameras equipment in autonomous driving. In this work, the input data consists of adjacent surrounding frames and camera parameters. We…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

Holistic scene understanding is pivotal for the performance of autonomous machines. In this paper we propose a new end-to-end model for performing semantic segmentation and depth completion jointly. The vast majority of recent approaches…

We propose ESSC-RM, a plug-and-play Enhancing framework for Semantic Scene Completion with a Refinement Module, which can be seamlessly integrated into existing SSC models. ESSC-RM operates in two phases: a baseline SSC network first…

`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…

We introduce ET-Former, a novel end-to-end algorithm for semantic scene completion using a single monocular camera. Our approach generates a semantic occupancy map from single RGB observation while simultaneously providing uncertainty…

This work studies Semantic Scene Completion which aims to predict a 3D semantic segmentation of our surroundings, even though some areas are occluded. For this we construct a Bayesian Convolutional Neural Network (BCNN), which is not only…

Holistic 3D scene understanding involves capturing and parsing unstructured 3D environments. Due to the inherent complexity of the real world, existing models have predominantly been developed and limited to be task-specific. We introduce…

Holistic 3D scene understanding, which jointly models geometry, appearance, and semantics, is crucial for applications like augmented reality and robotic interaction. Existing feed-forward 3D scene understanding methods (e.g., LSM) are…

Vision-based occupancy prediction, also known as 3D Semantic Scene Completion (SSC), presents a significant challenge in computer vision. Previous methods, confined to onboard processing, struggle with simultaneous geometric and semantic…

Real-time scene parsing is a fundamental feature for autonomous driving vehicles with multiple cameras. In this letter we demonstrate that sharing semantics between cameras with different perspectives and overlapped views can boost the…

Modern 3D semantic scene graph estimation methods utilize ground truth 3D annotations to accurately predict target objects, predicates, and relationships. In the absence of given 3D ground truth representations, we explore leveraging only…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

This paper introduces VisHall3D, a novel two-stage framework for monocular semantic scene completion that aims to address the issues of feature entanglement and geometric inconsistency prevalent in existing methods. VisHall3D decomposes the…

3D occupancy prediction is an important task for the robustness of vision-centric autonomous driving, which aims to predict whether each point is occupied in the surrounding 3D space. Existing methods usually require 3D occupancy labels to…