相关论文: SelfOccFlow: Towards end-to-end self-supervised 3D…

Predicting future behaviors of road agents is a key task in autonomous driving. While existing models have demonstrated great success in predicting marginal agent future behaviors, it remains a challenge to efficiently predict consistent…

Making predictions of future frames is a critical challenge in autonomous driving research. Most of the existing methods for video prediction attempt to generate future frames in simple and fixed scenes. In this paper, we propose a novel…

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…

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…

3D scene flow estimation is a vital tool in perceiving our environment given depth or range sensors. Unlike optical flow, the data is usually sparse and in most cases partially occluded in between two temporal samplings. Here we propose a…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

3D semantic occupancy prediction offers an intuitive and efficient scene understanding and has attracted significant interest in autonomous driving perception. Existing approaches either rely on full supervision, which demands costly…

Collaborative perception in automated vehicles leverages the exchange of information between agents, aiming to elevate perception results. Previous camera-based collaborative 3D perception methods typically employ 3D bounding boxes or…

3D occupancy prediction provides dense spatial understanding critical for safe autonomous driving. However, this task suffers from a severe class imbalance due to its volumetric representation, where safety-critical objects (bicycles,…

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…

3D semantic occupancy prediction is crucial for finely representing the surrounding environment, which is essential for ensuring the safety in autonomous driving. Existing fusion-based occupancy methods typically involve performing a…

In this article, we investigate self-supervised 3D scene flow estimation and class-agnostic motion prediction on point clouds. A realistic scene can be well modeled as a collection of rigidly moving parts, therefore its scene flow can be…

In autonomous driving, 3D occupancy prediction outputs voxel-wise status and semantic labels for more comprehensive understandings of 3D scenes compared with traditional perception tasks, such as 3D object detection and bird's-eye view…

Understanding the world around us and making decisions about the future is a critical component to human intelligence. As autonomous systems continue to develop, their ability to reason about the future will be the key to their success.…

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…

In autonomous vehicles, understanding the surrounding 3D environment of the ego vehicle in real-time is essential. A compact way to represent scenes while encoding geometric distances and semantic object information is via 3D semantic…

3D occupancy perception technology aims to observe and understand dense 3D environments for autonomous vehicles. Owing to its comprehensive perception capability, this technology is emerging as a trend in autonomous driving perception…

3D semantic occupancy prediction aims to forecast detailed geometric and semantic information of the surrounding environment for autonomous vehicles (AVs) using onboard surround-view cameras. Existing methods primarily focus on intricate…

In autonomous driving, vision-centric 3D object detection recognizes and localizes 3D objects from RGB images. However, due to high annotation costs and diverse outdoor scenes, training data often fails to cover all possible test scenarios,…

The field of autonomous driving is experiencing a surge of interest in world models, which aim to predict potential future scenarios based on historical observations. In this paper, we introduce DFIT-OccWorld, an efficient 3D occupancy…