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

Trajectory forecasting is crucial for video surveillance analytics, as it enables the anticipation of future movements for a set of agents, e.g. basketball players engaged in intricate interactions with long-term intentions. Deep generative…

Traffic prediction is a challenging spatio-temporal forecasting problem that involves highly complex spatio-temporal correlations. This paper proposes a Multi-level Multi-view Augmented Spatio-temporal Transformer (LVSTformer) for traffic…

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.…

Scene categorization is a useful precursor task that provides prior knowledge for many advanced computer vision tasks with a broad range of applications in content-based image indexing and retrieval systems. Despite the success of data…

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…

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…

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…

Determining accurate bird's eye view (BEV) positions of objects and tracks in a scene is vital for various perception tasks including object interactions mapping, scenario extraction etc., however, the level of supervision required to…

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 Gaussian Splatting (3DGS) enables efficient training and fast novel view synthesis in static environments. To address challenges posed by transient objects, distractor-free 3DGS methods have emerged and shown promising results when dense…

Bird's-Eye View (BEV) Perception has received increasing attention in recent years as it provides a concise and unified spatial representation across views and benefits a diverse set of downstream driving applications. At the same time,…

Saliency Prediction aims to predict the attention distribution of human eyes given an RGB image. Most of the recent state-of-the-art methods are based on deep image feature representations from traditional CNNs. However, the traditional…

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…

In NeRF, a critical problem is to effectively estimate the occupancy to guide empty-space skipping and point sampling. Grid-based methods work well for small-scale scenes. However, on large-scale scenes, they are limited by predefined…

Understanding trajectory diversity is a fundamental aspect of addressing practical traffic tasks. However, capturing the diversity of trajectories presents challenges, particularly with traditional machine learning and recurrent neural…

For autonomous agents to successfully operate in the real world, anticipation of future events and states of their environment is a key competence. This problem can be formalized as a sequence prediction problem, where a number of…

Environment prediction frameworks are critical for the safe navigation of autonomous vehicles (AVs) in dynamic settings. LiDAR-generated occupancy grid maps (L-OGMs) offer a robust bird's-eye view for the scene representation, enabling…

Many existing autonomous driving paradigms involve a multi-stage discrete pipeline of tasks. To better predict the control signals and enhance user safety, an end-to-end approach that benefits from joint spatial-temporal feature learning is…

3D occupancy-based perception pipeline has significantly advanced autonomous driving by capturing detailed scene descriptions and demonstrating strong generalizability across various object categories and shapes. Current methods…

The computational demands of self-attention mechanisms pose a critical challenge for transformer-based video generation, particularly in synthesizing ultra-long sequences. Current approaches, such as factorized attention and fixed sparse…