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

Semantic occupancy perception is essential for autonomous driving, as automated vehicles require a fine-grained perception of the 3D urban structures. However, existing relevant benchmarks lack diversity in urban scenes, and they only…

Semantic Scene Completion (SSC) aims to infer complete 3D geometry and semantics from monocular images, serving as a crucial capability for camera-based perception in autonomous driving. However, existing SSC methods relying on temporal…

World models envision potential future states based on various ego actions. They embed extensive knowledge about the driving environment, facilitating safe and scalable autonomous driving. Most existing methods primarily focus on either…

Semantic occupancy prediction aims to infer dense geometry and semantics of surroundings for an autonomous agent to operate safely in the 3D environment. Existing occupancy prediction methods are almost entirely trained on human-annotated…

Optical flow and disparity are two informative visual features for autonomous driving perception. They have been used for a variety of applications, such as obstacle and lane detection. The concept of "U-V-Disparity" has been widely…

We study the problem of self-supervised 3D scene flow estimation from real large-scale raw point cloud sequences, which is crucial to various tasks like trajectory prediction or instance segmentation. In the absence of ground truth scene…

Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major…

We present a self-supervised learning approach for optical flow. Our method distills reliable flow estimations from non-occluded pixels, and uses these predictions as ground truth to learn optical flow for hallucinated occlusions. We…

The perception of 3D motion of surrounding traffic participants is crucial for driving safety. While existing works primarily focus on general large motions, we contend that the instantaneous detection and quantification of subtle motions…

Occupancy prediction infers fine-grained 3D geometry and semantics from camera images of the surrounding environment, making it a critical perception task for autonomous driving. Existing methods either adopt dense grids as scene…

For autonomous vehicles to proactively plan safe trajectories and make informed decisions, they must be able to predict the future occupancy states of the local environment. However, common issues with occupancy prediction include…

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…

4D occupancy forecasting is one of the important techniques for autonomous driving, which can avoid potential risk in the complex traffic scenes. Scene flow is a crucial element to describe 4D occupancy map tendency. However, an accurate…

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…

Autonomous vehicles operate in highly dynamic environments necessitating an accurate assessment of which aspects of a scene are moving and where they are moving to. A popular approach to 3D motion estimation, termed scene flow, is to employ…

Estimating the 3D motion of points in a scene, known as scene flow, is a core problem in computer vision. Traditional learning-based methods designed to learn end-to-end 3D flow often suffer from poor generalization. Here we present a…

Event-based cameras can overpass frame-based cameras limitations for important tasks such as high-speed motion detection during self-driving cars navigation in low illumination conditions. The event cameras' high temporal resolution and…

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…

LiDAR representation learning has emerged as a promising approach to reducing reliance on costly and labor-intensive human annotations. While existing methods primarily focus on spatial alignment between LiDAR and camera sensors, they often…

In the realm of autonomous vehicle perception, comprehending 3D scenes is paramount for tasks such as planning and mapping. Camera-based 3D Semantic Occupancy Prediction (OCC) aims to infer scene geometry and semantics from limited…