相关论文: FreeOcc: Training-free Panoptic Occupancy Predicti…

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…

Autonomous driving requires a persistent understanding of 3D scenes that is robust to temporal disturbances and accounts for potential future actions. We introduce a new concept of 4D Occupancy Spatio-Temporal Persistence (OccSTeP), which…

Reliable pose estimation in previously unseen environments is a fundamental capability of autonomous systems. Existing LiDAR odometry methods typically employ point-, surfel-, or NDT-based map representations, which are distinct from the…

This technical report presents our solution, "occTransformer" for the 3D occupancy prediction track in the autonomous driving challenge at CVPR 2023. Our method builds upon the strong baseline BEVFormer and improves its performance through…

3D semantic occupancy prediction is central to autonomous driving, yet current methods are vulnerable to long-tailed class bias and out-of-distribution (OOD) inputs, often overconfidently assigning anomalies to rare classes. We present…

3D Semantic Occupancy Prediction is fundamental for spatial understanding, yet existing approaches face challenges in scalability and generalization due to their reliance on extensive labeled data and computationally intensive voxel-wise…

This paper reports on a dynamic semantic mapping framework that incorporates 3D scene flow measurements into a closed-form Bayesian inference model. Existence of dynamic objects in the environment can cause artifacts and traces in current…

The comprehensive representation and understanding of the driving environment is crucial to improve the safety and reliability of autonomous vehicles. In this paper, we present a new approach to establish an environment model containing a…

Target localization is a prerequisite for embodied tasks such as navigation and manipulation. Conventional approaches rely on constructing explicit 3D scene representations to enable target localization, such as point clouds, voxel grids,…

Perceiving the world and forecasting its future state is a critical task for self-driving. Supervised approaches leverage annotated object labels to learn a model of the world -- traditionally with object detections and trajectory…

This paper introduces a novel architecture for trajectory-conditioned forecasting of future 3D scene occupancy. In contrast to methods that rely on variational autoencoders (VAEs) to generate discrete occupancy tokens, which inherently…

Detection and segmentation of moving obstacles, along with prediction of the future occupancy states of the local environment, are essential for autonomous vehicles to proactively make safe and informed decisions. In this paper, we propose…

We introduce a self-supervised pretraining method, called OccFeat, for camera-only Bird's-Eye-View (BEV) segmentation networks. With OccFeat, we pretrain a BEV network via occupancy prediction and feature distillation tasks. Occupancy…

Foundation models have achieved remarkable results in 2D and language tasks like image segmentation, object detection, and visual-language understanding. However, their potential to enrich 3D scene representation learning is largely…

Vision-Language Models (VLMs) have shown significant progress in open-set challenges. However, the limited availability of 3D datasets hinders their effective application in 3D scene understanding. We propose LOC, a general language-guided…

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…

Online 3D occupancy prediction provides a comprehensive spatial understanding of embodied environments. While the innovative EmbodiedOcc framework utilizes 3D semantic Gaussians for progressive indoor occupancy prediction, it overlooks the…

3D semantic occupancy prediction has become a crucial perception task for comprehensive scene understanding in autonomous driving. While recent advances have explored 3D Gaussian splatting for occupancy modeling to substantially reduce…

Unsupervised 3D object detection leverages heuristic algorithms to discover potential objects, offering a promising route to reduce annotation costs in autonomous driving. Existing approaches mainly generate pseudo labels and refine them…

3D semantic occupancy prediction networks have demonstrated remarkable capabilities in reconstructing the geometric and semantic structure of 3D scenes, providing crucial information for robot navigation and autonomous driving systems.…