相关论文: SparseWorld-TC: Trajectory-Conditioned Sparse Occu…

In autonomous vehicles, understanding the surrounding 3D environment of the ego vehicle in real-time is essential. A compact way to represent scenes while encoding geometric distances and semantic object information is via 3D semantic…

Vision-based perception for autonomous driving requires an explicit modeling of a 3D space, where 2D latent representations are mapped and subsequent 3D operators are applied. However, operating on dense latent spaces introduces a cubic…

Occupancy prediction has garnered increasing attention in recent years for its comprehensive fine-grained environmental representation and strong generalization to open-set objects. However, cumbersome voxel features and 3D convolution…

3D occupancy prediction is important for autonomous driving due to its comprehensive perception of the surroundings. To incorporate sequential inputs, most existing methods fuse representations from previous frames to infer the current 3D…

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…

Modern methods for vision-centric autonomous driving perception widely adopt the bird's-eye-view (BEV) representation to describe a 3D scene. Despite its better efficiency than voxel representation, it has difficulty describing the…

We introduce a motion forecasting (behavior prediction) method that meets the latency requirements for autonomous driving in dense urban environments without sacrificing accuracy. A whole-scene sparse input representation allows StopNet to…

Understanding world dynamics is crucial for planning in autonomous driving. Recent methods attempt to achieve this by learning a 3D occupancy world model that forecasts future surrounding scenes based on current observation. However, 3D…

3D occupancy infers fine-grained 3D geometry and semantics which is critical for autonomous driving. Most existing approaches carry high compute costs, requiring dense 3D feature volume and cross-attention to effectively aggregate…

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…

This paper introduces InverseMatrixVT3D, an efficient method for transforming multi-view image features into 3D feature volumes for 3D semantic occupancy prediction. Existing methods for constructing 3D volumes often rely on depth…

Recently, world models have made significant progress in enhancing end-to-end driving systems through both future situation forecasting and improved scene understanding. However, existing driving world models are typically built upon dense…

In this paper, we propose OccTENS, a generative occupancy world model that enables controllable, high-fidelity long-term occupancy generation while maintaining computational efficiency. Different from visual generation, the occupancy world…

Occupancy prediction plays a pivotal role in autonomous driving. Previous methods typically construct dense 3D volumes, neglecting the inherent sparsity of the scene and suffering from high computational costs. To bridge the gap, we…

As a novel 3D scene representation, semantic occupancy has gained much attention in autonomous driving. However, existing occupancy prediction methods mainly focus on designing better occupancy representations, such as tri-perspective view…

End-to-end autonomous driving systems increasingly rely on vision-centric world models to understand and predict their environment. However, a common ineffectiveness in these models is the full reconstruction of future scenes, which expends…

3D semantic occupancy has rapidly become a research focus in the fields of robotics and autonomous driving environment perception due to its ability to provide more realistic geometric perception and its closer integration with downstream…

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…

Perceiving the world and forecasting its future state is a critical task for self-driving. Supervised approaches leverage annotated object labels to learn a model of the world -- traditionally with object detections and trajectory…

Achieving highly accurate and real-time 3D occupancy prediction from cameras is a critical requirement for the safe and practical deployment of autonomous vehicles. While this shift to sparse 3D representations solves the encoding…