相关论文: Scaling Up Occupancy-centric Driving Scene Generat…

Autonomous driving has seen remarkable advancements, largely driven by extensive real-world data collection. However, acquiring diverse and corner-case data remains costly and inefficient. Generative models have emerged as a promising…

Recent advances in driving-scene generation and reconstruction have demonstrated significant potential for enhancing autonomous driving systems by producing scalable and controllable training data. Existing generation methods primarily…

Dynamic Occupancy Grid Mapping is a technique used to generate a local map of the environment containing both static and dynamic information. Typically, these maps are primarily generated using lidar measurements. However, with improvements…

Semantic segmentation in autonomous driving has been undergoing an evolution from sparse point segmentation to dense voxel segmentation, where the objective is to predict the semantic occupancy of each voxel in the concerned 3D space. The…

Vision-Language Models (VLMs) have shown significant progress in open-set challenges. However, the limited availability of 3D datasets hinders their effective application in 3D scene understanding. We propose LOC, a general language-guided…

Self-supervised 3D occupancy prediction offers a promising solution for understanding complex driving scenes without requiring costly 3D annotations. However, training dense occupancy decoders to capture fine-grained geometry and semantics…

The 3D occupancy prediction task has witnessed remarkable progress in recent years, playing a crucial role in vision-based autonomous driving systems. While traditional methods are limited to fixed semantic categories, recent approaches…

Crucial for autonomous exploration, online 3D occupancy prediction and mapping incrementally constructs dense spatial representations on the fly. However, recent Gaussian-centric methods struggle with structural boundary fidelity and rely…

Camera-based 3D semantic scene completion (SSC) plays a crucial role in autonomous driving, enabling voxelized 3D scene understanding for effective scene perception and decision-making. Existing SSC methods have shown efficacy in improving…

In this paper, we address the important problem in self-driving of forecasting multi-pedestrian motion and their shared scene occupancy map, critical for safe navigation. Our contributions are two-fold. First, we advocate for predicting…

End-to-end autonomous driving aims to produce planning trajectories from raw sensors directly. Currently, most approaches integrate perception, prediction, and planning modules into a fully differentiable network, promising great…

Realistic and diverse multi-agent driving scenes are crucial for evaluating autonomous vehicles, but safety-critical events which are essential for this task are rare and underrepresented in driving datasets. Data-driven scene generation…

Environment prediction frameworks are integral for autonomous vehicles, enabling safe navigation in dynamic environments. LiDAR generated occupancy grid maps (L-OGMs) offer a robust bird's eye-view scene representation that facilitates…

In this paper, we explore a novel point representation for 3D occupancy prediction from multi-view images, which is named Occupancy as Set of Points. Existing camera-based methods tend to exploit dense volume-based representation to predict…

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…

The generation and simulation of diverse real-world scenes have significant application value in the field of autonomous driving, especially for the corner cases. Recently, researchers have explored employing neural radiance fields or…

Generative world models increasingly rely on 4D occupancy for realistic autonomous driving simulation. However, existing generation frameworks depend on rigid geometric conditions (e.g., explicit trajectories) or simplistic attribute-level…

We present a novel approach for enhancing robotic exploration by using generative occupancy mapping. We implement SceneSense, a diffusion model designed and trained for predicting 3D occupancy maps given partial observations. Our proposed…

LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a…

A major bottleneck in off-road autonomous driving research lies in the scarcity of large-scale, high-quality datasets and benchmarks. To bridge this gap, we present ORAD-3D, which, to the best of our knowledge, is the largest dataset…