相关论文: Semantic Causality-Aware Vision-Based 3D Occupancy…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…

Cross-modal systems trained on 2D visual inputs are presented with a dimensional shift when processing 3D scenes. An in-scene camera bridges the dimensionality gap but requires learning a control module. We introduce a new method that…

Monocular Semantic Occupancy Prediction aims to infer the complete 3D geometry and semantic information of scenes from only 2D images. It has garnered significant attention, particularly due to its potential to enhance the 3D perception of…

Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…

3D semantic occupancy prediction is an essential part of autonomous driving, focusing on capturing the geometric details of scenes. Off-road environments are rich in geometric information, therefore it is suitable for 3D semantic occupancy…

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…

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…

The sparse object detection paradigm shift towards dense 3D semantic occupancy prediction is necessary for dealing with long-tail safety challenges for autonomous vehicles. Nonetheless, the current voxelization methods commonly suffer from…

3D semantic occupancy prediction is a pivotal task in the field of autonomous driving. Recent approaches have made great advances in 3D semantic occupancy predictions on a single modality. However, multi-modal semantic occupancy prediction…

The 3D occupancy estimation task has become an important challenge in the area of vision-based autonomous driving recently. However, most existing camera-based methods rely on costly 3D voxel labels or LiDAR scans for training, limiting…

3D environment recognition is essential for autonomous driving systems, as autonomous vehicles require a comprehensive understanding of surrounding scenes. Recently, the predominant approach to define this real-life problem is through 3D…

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…

Robotic perception requires the modeling of both 3D geometry and semantics. Existing methods typically focus on estimating 3D bounding boxes, neglecting finer geometric details and struggling to handle general, out-of-vocabulary objects. 3D…

Estimating the 3D world from 2D monocular images is a fundamental yet challenging task due to the labour-intensive nature of 3D annotations. To simplify label acquisition, this work proposes a novel approach that bridges 2D vision…

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…

Occupancy prediction reconstructs 3D structures of surrounding environments. It provides detailed information for autonomous driving planning and navigation. However, most existing methods heavily rely on the LiDAR point clouds to generate…

In the realm of autonomous vehicle perception, comprehending 3D scenes is paramount for tasks such as planning and mapping. Camera-based 3D Semantic Occupancy Prediction (OCC) aims to infer scene geometry and semantics from limited…

Obtaining high-quality 3D semantic occupancy from raw sensor data remains an essential yet challenging task, often requiring extensive manual labeling. In this work, we propose AutoOcc, a vision-centric automated pipeline for open-ended…

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…

The existing deep learning models suffer from out-of-distribution (o.o.d.) performance drop in computer vision tasks. In comparison, humans have a remarkable ability to interpret images, even if the scenes in the images are rare, thanks to…