相关论文: GUIDE: Gaussian Unified Instance Detection for Enh…

The detection of small road hazards, such as lost cargo, is a vital capability for self-driving cars. We tackle this challenging and rarely addressed problem with a vision system that leverages appearance, contextual as well as geometric…

Visual grounding aims to identify objects or regions in a scene based on natural language descriptions, essential for spatially aware perception in autonomous driving. However, existing visual grounding tasks typically depend on bounding…

3D object detection based on roadside cameras is an additional way for autonomous driving to alleviate the challenges of occlusion and short perception range from vehicle cameras. Previous methods for roadside 3D object detection mainly…

Occupancy estimation has become a prominent task in 3D computer vision, particularly within the autonomous driving community. In this paper, we present a novel approach to occupancy estimation, termed GaussianFlowOcc, which is inspired by…

Occupancy prediction, aiming at predicting the occupancy status within voxelized 3D environment, is quickly gaining momentum within the autonomous driving community. Mainstream occupancy prediction works first discretize the 3D environment…

3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception. Existing methods based on 3D Gaussians instead of dense…

Object detection is an important task in environment perception for autonomous driving. Modern 2D object detection frameworks such as Yolo, SSD or Faster R-CNN predict multiple bounding boxes per object that are refined using…

3D Semantic Occupancy Prediction is fundamental for spatial understanding, yet existing approaches face challenges in scalability and generalization due to their reliance on extensive labeled data and computationally intensive voxel-wise…

3D semantic occupancy prediction is crucial for autonomous driving. While multi-modal fusion improves accuracy over vision-only methods, it typically relies on computationally expensive dense voxel or BEV tensors. We present Gau-Occ, a…

Reconstructing dynamic driving scenes is essential for developing autonomous systems through sensor-realistic simulation. Although recent methods achieve high-fidelity reconstructions, they either rely on costly human annotations for object…

Feed-forward surround-view autonomous driving scene reconstruction offers fast, generalizable inference ability, which faces the core challenge of ensuring generalization while elevating novel view quality. Due to the surround-view with…

We introduce Consistent Instance Field, a continuous and probabilistic spatio-temporal representation for dynamic scene understanding. Unlike prior methods that rely on discrete tracking or view-dependent features, our approach disentangles…

Perception systems of autonomous vehicles are susceptible to occlusion, especially when examined from a vehicle-centric perspective. Such occlusion can lead to overlooked object detections, e.g., larger vehicles such as trucks or buses may…

3D semantic occupancy prediction is an important task for robust vision-centric autonomous driving, which predicts fine-grained geometry and semantics of the surrounding scene. Most existing methods leverage dense grid-based scene…

Autonomous driving in complex urban scenarios requires 3D perception to be both comprehensive and precise. Traditional 3D perception methods focus on object detection, resulting in sparse representations that lack environmental detail.…

Photorealistic 3D reconstruction of street scenes is a critical technique for developing real-world simulators for autonomous driving. Despite the efficacy of Neural Radiance Fields (NeRF) for driving scenes, 3D Gaussian Splatting (3DGS)…

Driver distraction has become a significant cause of severe traffic accidents over the past decade. Despite the growing development of vision-driven driver monitoring systems, the lack of comprehensive perception datasets restricts road…

In the field of autonomous driving, accurate and comprehensive perception of the 3D environment is crucial. Bird's Eye View (BEV) based methods have emerged as a promising solution for 3D object detection using multi-view images as input.…

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect…

In this paper, a multi-modal 360$^{\circ}$ framework for 3D object detection and tracking for autonomous vehicles is presented. The process is divided into four main stages. First, images are fed into a CNN network to obtain instance…