相关论文: SuperOcc: Toward Cohesive Temporal Modeling for Su…

Self-supervision for semantic occupancy estimation is appealing as it removes the labour-intensive manual annotation, thus allowing one to scale to larger autonomous driving datasets. Superquadrics offer an expressive shape family very…

3D semantic occupancy prediction has emerged as a critical perception task for autonomous driving due to its ability to offer voxel-level semantic and geometric understanding of the environment. However, such a refined representation for…

3D scene understanding plays a vital role in vision-based autonomous driving. While most existing methods focus on 3D object detection, they have difficulty describing real-world objects of arbitrary shapes and infinite classes. Towards a…

3D occupancy prediction is an important task for the robustness of vision-centric autonomous driving, which aims to predict whether each point is occupied in the surrounding 3D space. Existing methods usually require 3D occupancy labels to…

Robust 3D occupancy prediction is essential for autonomous driving, particularly under adverse weather conditions where traditional vision-only systems struggle. While the fusion of surround-view 4D radar and cameras offers a promising…

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…

3D occupancy becomes a promising perception representation for autonomous driving to model the surrounding environment at a fine-grained scale. However, it remains challenging to efficiently aggregate 3D occupancy over time across multiple…

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…

Autonomous driving requires forecasting both geometry and semantics over time to effectively reason about future environment states. Existing vision-based occupancy forecasting methods focus on motion-related categories such as static and…

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…

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…

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.…

3D semantic occupancy prediction is an essential part of autonomous driving, focusing on capturing the geometric details of scenes. Off-road environments are rich in geometric information, therefore it is suitable for 3D semantic occupancy…

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…

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…

3D semantic occupancy prediction is one of the crucial tasks of autonomous driving. It enables precise and safe interpretation and navigation in complex environments. Reliable predictions rely on effective sensor fusion, as different…

The task of occupancy forecasting (OCF) involves utilizing past and present perception data to predict future occupancy states of autonomous vehicle surrounding environments, which is critical for downstream tasks such as obstacle avoidance…

Occupancy prediction has increasingly garnered attention in recent years for its fine-grained understanding of 3D scenes. Traditional approaches typically rely on dense, regular grid representations, which often leads to excessive…

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…

We introduce UniOcc, a comprehensive, unified benchmark and toolkit for occupancy forecasting (i.e., predicting future occupancies based on historical information) and occupancy prediction (i.e., predicting current-frame occupancy from…