相关论文: SQS: Enhancing Sparse Perception Models via Query-…

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…

Despite the demonstrated efficiency and performance of sparse query-based representations for perception, state-of-the-art 3D occupancy prediction methods still rely on voxel-based or dense Gaussian-based 3D representations. However, dense…

Synthesizing novel views of large-scale scenes from unconstrained in-the-wild images is an important but challenging task in computer vision. Existing methods, which optimize per-image appearance and transient occlusion through implicit…

A self-driving vehicle must understand its environment to determine the appropriate action. Traditional autonomy systems rely on object detection to find the agents in the scene. However, object detection assumes a discrete set of objects…

Collaborative perception enables connected vehicles to share information, overcoming occlusions and extending the limited sensing range inherent in single-agent (non-collaborative) systems. Existing vision-only methods for 3D semantic…

Accurate 3D reconstruction of vehicles is vital for applications such as vehicle inspection, predictive maintenance, and urban planning. Existing methods like Neural Radiance Fields and Gaussian Splatting have shown impressive results but…

3D semantic occupancy prediction has become a crucial perception task for comprehensive scene understanding in autonomous driving. While recent advances have explored 3D Gaussian splatting for occupancy modeling to substantially reduce…

3D Gaussian Splatting (3DGS) enables efficient training and fast novel view synthesis in static environments. To address challenges posed by transient objects, distractor-free 3DGS methods have emerged and shown promising results when dense…

Latent steering exploits internal representations of Large Language Models (LLMs) to guide generation, yet interventions on dense states can entangle distinct semantic features. In this paper, we investigate attention query activations as a…

Sparse-view scene reconstruction often faces significant challenges due to the constraints imposed by limited observational data. These limitations result in incomplete information, leading to suboptimal reconstructions using existing…

Sparse-view synthesis remains a challenging problem due to the difficulty of recovering accurate geometry and appearance from limited observations. While recent advances in 3D Gaussian Splatting (3DGS) have enabled real-time rendering with…

Semantic occupancy has emerged as a powerful representation in world models for its ability to capture rich spatial semantics. However, most existing occupancy world models rely on static and fixed embeddings or grids, which inherently…

Most existing Dynamic Gaussian Splatting methods for complex dynamic urban scenarios rely on accurate object-level supervision from expensive manual labeling, limiting their scalability in real-world applications. In this paper, we…

Compressing large-scale neural networks is essential for deploying models on resource-constrained devices. Most existing methods adopt weight pruning or low-bit quantization individually, often resulting in suboptimal compression rates to…

We introduce SPFSplatV2, an efficient feed-forward framework for 3D Gaussian splatting from sparse multi-view images, requiring no ground-truth poses during training and inference. It employs a shared feature extraction backbone, enabling…

The significance of informative and robust point representations has been widely acknowledged for 3D scene understanding. Despite existing self-supervised pre-training counterparts demonstrating promising performance, the model collapse and…

We investigate data augmentation for 3D object detection in autonomous driving. We utilize recent advancements in 3D reconstruction based on Gaussian Splatting for 3D object placement in driving scenes. Unlike existing diffusion-based…

3D semantic field learning is crucial for applications like autonomous navigation, AR/VR, and robotics, where accurate comprehension of 3D scenes from limited viewpoints is essential. Existing methods struggle under sparse view conditions,…

Bird's-Eye-View (BEV) perception serves as a cornerstone for autonomous driving, offering a unified spatial representation that fuses surrounding-view images to enable reasoning for various downstream tasks, such as semantic segmentation,…

Weakly-supervised 3D occupancy perception is crucial for vision-based autonomous driving in outdoor environments. Previous methods based on NeRF often face a challenge in balancing the number of samples used. Too many samples can decrease…