相关论文: SliceSemOcc: Vertical Slice Based Multimodal 3D Se…

Open-vocabulary semantic segmentation (OVSS) extends traditional closed-set segmentation by enabling pixel-wise annotation for both seen and unseen categories using arbitrary textual descriptions. While existing methods leverage…

3D open-vocabulary scene understanding aims to recognize arbitrary novel categories beyond the base label space. However, existing works not only fail to fully utilize all the available modal information in the 3D domain but also lack…

3D semantic occupancy has rapidly become a research focus in the fields of robotics and autonomous driving environment perception due to its ability to provide more realistic geometric perception and its closer integration with downstream…

3D object detection from point clouds plays a critical role in autonomous driving. Currently, the primary methods for point cloud processing are voxel-based and pillar-based approaches. Voxel-based methods offer high accuracy through…

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…

3D reconstruction has been widely used in autonomous navigation fields of mobile robotics. However, the former research can only provide the basic geometry structure without the capability of open-world scene understanding, limiting…

3D semantic occupancy prediction requires accurate 2D-to-3D feature lifting, yet current methods restrict camera geometry to initial projections. Subsequent operations like offset learning, attention weighting, and cross-camera aggregation…

As a fundamental part of computational healthcare, Computer Tomography (CT) and Magnetic Resonance Imaging (MRI) provide volumetric data, making the development of algorithms for 3D image analysis a necessity. Despite being computationally…

A large portion of volumetric medical data, especially magnetic resonance imaging (MRI) data, is anisotropic, as the through-plane resolution is typically much lower than the in-plane resolution. Both 3D and purely 2D deep learning-based…

In this technical report, we present our solution for the Vision-Centric 3D Occupancy and Flow Prediction track in the nuScenes Open-Occ Dataset Challenge at CVPR 2024. Our innovative approach involves a dual-stage framework that enhances…

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…

This paper introduces GeloVec, a new CNN-based attention smoothing framework for semantic segmentation that addresses critical limitations in conventional approaches. While existing attention-backed segmentation methods suffer from boundary…

Self-supervision for semantic occupancy estimation is appealing as it removes the labour-intensive manual annotation, thus allowing one to scale to larger autonomous driving datasets. Superquadrics offer an expressive shape family very…

3D occupancy prediction (3DOcc) is a rapidly rising and challenging perception task in the field of autonomous driving. Existing 3D occupancy networks (OccNets) are both computationally heavy and label-hungry. In terms of model complexity,…

Semantic and panoptic occupancy prediction for road scene analysis provides a dense 3D representation of the ego vehicle's surroundings. Current camera-only approaches typically rely on costly dense 3D supervision or require training models…

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…

Semantic scene completion (SSC) is essential for achieving comprehensive perception in autonomous driving systems. However, existing SSC methods often overlook the high deployment costs in real-world applications. Traditional architectures,…

As a voxel-wise labeling task, semantic scene completion (SSC) tries to simultaneously infer the occupancy and semantic labels for a scene from a single depth and/or RGB image. The key challenge for SSC is how to effectively take advantage…

3D occupancy-based perception pipeline has significantly advanced autonomous driving by capturing detailed scene descriptions and demonstrating strong generalizability across various object categories and shapes. Current methods…