相关论文: CurriFlow: Curriculum-Guided Depth Fusion with Opt…

In the realm of autonomous driving, accurate 3D perception is the foundation. However, developing such models relies on extensive human annotations -- a process that is both costly and labor-intensive. To address this challenge from a data…

Scene flow represents the 3D motion of every point in the dynamic environments. Like the optical flow that represents the motion of pixels in 2D images, 3D motion representation of scene flow benefits many applications, such as autonomous…

Vision-based Semantic Scene Completion (SSC) has gained much attention due to its widespread applications in various 3D perception tasks. Existing sparse-to-dense approaches typically employ shared context-independent queries across various…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

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…

Recently, the RGB images and point clouds fusion methods have been proposed to jointly estimate 2D optical flow and 3D scene flow. However, as both conventional RGB cameras and LiDAR sensors adopt a frame-based data acquisition mechanism,…

Recent text-to-image diffusion models have achieved remarkable visual fidelity but often struggle with semantic alignment to complex prompts. We introduce CritiFusion, a novel inference-time framework that integrates a multimodal semantic…

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for…

The prediction of 3D semantic occupancy enables autonomous vehicles (AVs) to perceive the fine-grained geometric and semantic scene structure for safe navigation and decision-making. Existing methods mainly rely on either voxel-based…

We study the problem of self-supervised 3D scene flow estimation from real large-scale raw point cloud sequences, which is crucial to various tasks like trajectory prediction or instance segmentation. In the absence of ground truth scene…

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…

Monocular 3D Semantic Scene Completion (SSC) has garnered significant attention in recent years due to its potential to predict complex semantics and geometry shapes from a single image, requiring no 3D inputs. In this paper, we identify…

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 comprehensive understanding of surgical scenes allows for monitoring of the surgical process, reducing the occurrence of accidents and enhancing efficiency for medical professionals. Semantic modeling within operating rooms, as a scene…

Monocular Semantic Scene Completion (SSC) aims to reconstruct complete 3D semantic scenes from a single RGB image, offering a cost-effective solution for autonomous driving and robotics. However, the inherently imbalanced nature of voxel…

This paper presents a real-time online vision framework to jointly recover an indoor scene's 3D structure and semantic label. Given noisy depth maps, a camera trajectory, and 2D semantic labels at train time, the proposed deep neural…

We propose SNI-SLAM, a semantic SLAM system utilizing neural implicit representation, that simultaneously performs accurate semantic mapping, high-quality surface reconstruction, and robust camera tracking. In this system, we introduce…

Real-time open-vocabulary scene understanding is essential for efficient 3D perception in applications such as vision-language navigation, embodied intelligence, and augmented reality. However, existing methods suffer from imprecise…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…