相关论文: Enhancing Indoor Occupancy Prediction via Sparse Q…

Large-scale contrastive learning models can learn very informative sentence embeddings, but are hard to serve online due to the huge model size. Therefore, they often play the role of "teacher", transferring abilities to small "student"…

Traditional 3D scene understanding approaches rely on labeled 3D datasets to train a model for a single task with supervision. We propose OpenScene, an alternative approach where a model predicts dense features for 3D scene points that are…

Semantic occupancy has recently gained significant traction as a prominent 3D scene representation. However, most existing methods rely on large and costly datasets with fine-grained 3D voxel labels for training, which limits their…

We propose a method to learn explicit, class-conditioned spatial priors for object placement in natural scenes by distilling the implicit placement knowledge encoded in text-conditioned diffusion models. Prior work relies either on manually…

Learning 3D scene geometry and semantics from images is a core challenge in computer vision and a key capability for autonomous driving. Since large-scale 3D annotation is prohibitively expensive, recent work explores self-supervised…

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…

In this technical report, we present our solution, named UniOCC, for the Vision-Centric 3D occupancy prediction track in the nuScenes Open Dataset Challenge at CVPR 2023. Existing methods for occupancy prediction primarily focus on…

In the context of label-efficient learning on video data, the distillation method and the structural design of the teacher-student architecture have a significant impact on knowledge distillation. However, the relationship between these…

Dataset distillation, a training-aware data compression technique, has recently attracted increasing attention as an effective tool for mitigating costs of optimization and data storage. However, progress remains largely empirical.…

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…

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…

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…

Knowledge distillation aims to enhance the performance of a lightweight student model by exploiting the knowledge from a pre-trained cumbersome teacher model. However, in the traditional knowledge distillation, teacher predictions are only…

3D semantic occupancy prediction aims to reconstruct the 3D geometry and semantics of the surrounding environment. With dense voxel labels, prior works typically formulate it as a dense segmentation task, independently classifying each…

3D Semantic Scene Completion (SSC) has gained increasing attention due to its pivotal role in 3D perception. Recent advancements have primarily focused on refining voxel-level features to construct 3D scenes. However, treating voxels as the…

In this technical report, we present our solution for the Vision-Centric 3D Occupancy and Flow Prediction track in the nuScenes Open-Occ Dataset Challenge at CVPR 2024. Our innovative approach involves a dual-stage framework that enhances…

Purpose: In curriculum learning, the idea is to train on easier samples first and gradually increase the difficulty, while in self-paced learning, a pacing function defines the speed to adapt the training progress. While both methods…

Open-set semantic mapping enables language-driven robotic perception, but current instance-centric approaches are bottlenecked by context-depriving and computationally expensive crop-based feature extraction. To overcome this fundamental…

Deep neural networks have achieved impressive performance across a wide range of tasks, but this success often comes with substantial computational and storage costs due to large-scale training data. Dataset distillation addresses this…

Vision-based 3D semantic scene completion (SSC) describes autonomous driving scenes through 3D volume representations. However, the occlusion of invisible voxels by scene surfaces poses challenges to current SSC methods in hallucinating…