相关论文: SparseWorld-TC: Trajectory-Conditioned Sparse Occu…
Recently, Transformers have shown promising performance in various vision tasks. However, the high costs of global self-attention remain challenging for Transformers, especially for high-resolution vision tasks. Inspired by one of the most…
Forecasting short-term motion of nearby vehicles presents an inherently challenging issue as the space of their possible future movements is not strictly limited to a set of single trajectories. Recently proposed techniques that demonstrate…
We introduce a new family of video prediction models designed to support downstream control tasks. We call these models Video Occupancy models (VOCs). VOCs operate in a compact latent space, thus avoiding the need to make predictions about…
The sparse object detection paradigm shift towards dense 3D semantic occupancy prediction is necessary for dealing with long-tail safety challenges for autonomous vehicles. Nonetheless, the current voxelization methods commonly suffer from…
An accurate understanding of a self-driving vehicle's surrounding environment is crucial for its navigation system. To enhance the effectiveness of existing algorithms and facilitate further research, it is essential to provide…
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…
Sparse query-based paradigms have achieved significant success in multi-view 3D detection for autonomous vehicles. Current research faces challenges in balancing between enlarging receptive fields and reducing interference when aggregating…
Most previous 3D object detection methods that leverage the multi-modality of LiDAR and cameras utilize the Bird's Eye View (BEV) space for intermediate feature representation. However, this space uses a low x, y-resolution and sacrifices…
Multi-view image generation in autonomous driving demands consistent 3D scene understanding across camera views. Most existing methods treat this problem as a 2D image set generation task, lacking explicit 3D modeling. However, we argue…
Prediction of dynamic environment is crucial to safe navigation of an autonomous vehicle. Urban traffic scenes are particularly challenging to forecast due to complex interactions between various dynamic agents, such as vehicles and…
Open-vocabulary 3D occupancy is vital for embodied agents, which need to understand complex indoor environments where semantic categories are abundant and evolve beyond fixed taxonomies. While recent work has explored open-vocabulary…
Generating unbounded 3D scenes is crucial for large-scale scene understanding and simulation. Urban scenes, unlike natural landscapes, consist of various complex man-made objects and structures such as roads, traffic signs, vehicles, and…
This report presents our Le3DE2E_Occ solution for 4D Occupancy Forecasting in Argoverse Challenges at CVPR 2023 Workshop on Autonomous Driving (WAD). Our solution consists of a strong LiDAR-based Bird's Eye View (BEV) encoder with temporal…
The comprehensive understanding capabilities of world models for driving scenarios have significantly improved the planning accuracy of end-to-end autonomous driving frameworks. However, the redundant modeling of static regions and the lack…
Autonomous driving requires a persistent understanding of 3D scenes that is robust to temporal disturbances and accounts for potential future actions. We introduce a new concept of 4D Occupancy Spatio-Temporal Persistence (OccSTeP), which…
Occupancy is crucial for autonomous driving, providing essential geometric priors for perception and planning. However, existing methods predominantly rely on LiDAR-based occupancy annotations, which limits scalability and prevents…
Visual autoregressive modeling, based on the next-scale prediction paradigm, exhibits notable advantages in image quality and model scalability over traditional autoregressive and diffusion models. It generates images by progressively…
3D object detection plays a pivotal role in autonomous driving and robotics, demanding precise interpretation of Bird's Eye View (BEV) images. The dynamic nature of real-world environments necessitates the use of dynamic query mechanisms in…
In this paper, we tackle the problem of detecting objects in 3D and forecasting their future motion in the context of self-driving. Towards this goal, we design a novel approach that explicitly takes into account the interactions between…
We propose an end-to-end network that takes a single perspective RGB image of a complex road scene as input, to produce occlusion-reasoned layouts in perspective space as well as a parametric bird's-eye-view (BEV) space. In contrast to…