相关论文: QueryOcc: Query-based Self-Supervision for 3D Sema…

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…

Semantic scene completion aims to infer the 3D geometric structures with semantic classes from camera or LiDAR, which provide essential occupancy information in autonomous driving. Prior endeavors concentrate on constructing the network or…

Existing learning-based occupancy prediction methods rely on large-scale 3D annotations and generalize poorly across environments. We present FreeOcc, a training-free framework for open-vocabulary occupancy prediction from monocular or…

Accurate perception of the dynamic environment is a fundamental task for autonomous driving and robot systems. This paper introduces Let Occ Flow, the first self-supervised work for joint 3D occupancy and occupancy flow prediction using…

A comprehensive understanding of 3D scenes is crucial in autonomous vehicles (AVs), and recent models for 3D semantic occupancy prediction have successfully addressed the challenge of describing real-world objects with varied shapes and…

3D occupancy prediction provides a comprehensive description of the surrounding scenes and has become an essential task for 3D perception. Most existing methods focus on offline perception from one or a few views and cannot be applied to…

Camera-based occupancy prediction is a mainstream approach for 3D perception in autonomous driving, aiming to infer complete 3D scene geometry and semantics from 2D images. Almost existing methods focus on improving performance through…

Geometric feature extraction is a crucial component of point cloud registration pipelines. Recent work has demonstrated how supervised learning can be leveraged to learn better and more compact 3D features. However, those approaches'…

Existing vision-based 3D occupancy prediction methods are inherently limited in accuracy due to their exclusive reliance on street-view imagery, neglecting the potential benefits of incorporating satellite views. We propose SA-Occ, the…

An effective pre-training framework with universal 3D representations is extremely desired in perceiving large-scale dynamic scenes. However, establishing such an ideal framework that is both task-generic and label-efficient poses a…

3D occupancy prediction (3DOcc) is a rapidly rising and challenging perception task in the field of autonomous driving. Existing 3D occupancy networks (OccNets) are both computationally heavy and label-hungry. In terms of model complexity,…

Unsupervised representation learning techniques, such as learning word embeddings, have had a significant impact on the field of natural language processing. Similar representation learning techniques have not yet become commonplace in the…

Semantic Scene Completion (SSC) is essential for 3D perception in mobile robotics, as it enables holistic scene understanding by jointly estimating dense volumetric occupancy and per-voxel semantics. Although SSC has been widely studied in…

The goal of the Semantic Scene Completion (SSC) task is to simultaneously predict a completed 3D voxel representation of volumetric occupancy and semantic labels of objects in the scene from a single-view observation. Since the…

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…

Monocular 3D object localization in driving scenes is a crucial task, but challenging due to its ill-posed nature. Estimating 3D coordinates for each pixel on the object surface holds great potential as it provides dense 2D-3D geometric…

Visual Odometry (VO) plays a pivotal role in autonomous systems, with a principal challenge being the lack of depth information in camera images. This paper introduces OCC-VO, a novel framework that capitalizes on recent advances in deep…

Vision-based 3D semantic occupancy prediction is vital for autonomous driving, enabling unified modeling of static infrastructure and dynamic agents. Global occupancy maps serve as long-term memory priors, providing valuable historical…

Addressing the task of 3D semantic occupancy prediction for autonomous driving, we tackle two key issues in existing 3D Gaussian Splatting (3DGS) methods: (1) unified feature aggregation neglecting semantic correlations among similar…

Driving scene generation is a critical domain for autonomous driving, enabling downstream applications, including perception and planning evaluation. Occupancy-centric methods have recently achieved state-of-the-art results by offering…