相关论文: ForecastOcc: Vision-based Semantic Occupancy Forec…

3D reconstruction has been widely used in autonomous navigation fields of mobile robotics. However, the former research can only provide the basic geometry structure without the capability of open-world scene understanding, limiting…

Recent progress in self- and weakly supervised occupancy estimation has largely relied on 2D projection or rendering-based supervision, which suffers from geometric inconsistencies and severe depth bleeding. We thus introduce ShelfOcc, a…

3D occupancy prediction (3DOcc) is a rapidly rising and challenging perception task in the field of autonomous driving. Existing 3D occupancy networks (OccNets) are both computationally heavy and label-hungry. In terms of model complexity,…

Autonomous vehicles need a complete map of their surroundings to plan and act. This has sparked research into the tasks of 3D occupancy prediction, 3D scene completion, and 3D panoptic scene completion, which predict a dense map of the ego…

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…

Forecasting the scalable future states of surrounding traffic participants in complex traffic scenarios is a critical capability for autonomous vehicles, as it enables safe and feasible decision-making. Recent successes in learning-based…

The safe operation of autonomous vehicles (AVs) is highly dependent on their understanding of the surroundings. For this, the task of 3D semantic occupancy prediction divides the space around the sensors into voxels, and labels each voxel…

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 describe an approach to predict open-vocabulary 3D semantic voxel occupancy map from input 2D images with the objective of enabling 3D grounding, segmentation and retrieval of free-form language queries. This is a challenging problem…

3D environment recognition is essential for autonomous driving systems, as autonomous vehicles require a comprehensive understanding of surrounding scenes. Recently, the predominant approach to define this real-life problem is through 3D…

Predicting how the world can evolve in the future is crucial for motion planning in autonomous systems. Classical methods are limited because they rely on costly human annotations in the form of semantic class labels, bounding boxes, and…

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…

In the field of autonomous driving, accurate and comprehensive perception of the 3D environment is crucial. Bird's Eye View (BEV) based methods have emerged as a promising solution for 3D object detection using multi-view images as input.…

A self-driving vehicle (SDV) must be able to perceive its surroundings and predict the future behavior of other traffic participants. Existing works either perform object detection followed by trajectory forecasting of the detected objects,…

Given the capability of mitigating the long-tail deficiencies and intricate-shaped absence prevalent in 3D object detection, occupancy prediction has become a pivotal component in autonomous driving systems. However, the procession of…

3D semantic occupancy prediction is crucial for autonomous driving. While multi-modal fusion improves accuracy over vision-only methods, it typically relies on computationally expensive dense voxel or BEV tensors. We present Gau-Occ, a…

Motion planning for safe autonomous driving requires learning how the environment around an ego-vehicle evolves with time. Ego-centric perception of driveable regions in a scene not only changes with the motion of actors in the environment,…

3D occupancy prediction has recently emerged as a new paradigm for holistic 3D scene understanding and provides valuable information for downstream planning in autonomous driving. Most existing methods, however, are computationally…

This paper presents two variations of a novel stochastic prediction algorithm that enables mobile robots to accurately and robustly predict the future state of complex dynamic scenes. The proposed algorithm uses a variational autoencoder to…

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…