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

Modern 3D object detection datasets are constrained by narrow class taxonomies and costly manual annotations, limiting their ability to scale to open-world settings. In contrast, 2D vision-language models trained on web-scale image-text…

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…

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…

Foundation models have exhibited unprecedented capabilities in tackling many domains and tasks. Models such as CLIP are currently widely used to bridge cross-modal representations, and text-to-image diffusion models are arguably the leading…

Closed-set 3D perception models trained on only a pre-defined set of object categories can be inadequate for safety critical applications such as autonomous driving where new object types can be encountered after deployment. In this paper,…

Detecting unknown objects in semantic segmentation is crucial for safety-critical applications such as autonomous driving. Large vision foundation models, including DINOv2, InternImage, and CLIP, have advanced visual representation learning…

Multi-camera 3D perception has emerged as a prominent research field in autonomous driving, offering a viable and cost-effective alternative to LiDAR-based solutions. The existing multi-camera algorithms primarily rely on monocular 2D…

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…

Embodied intelligence requires high-fidelity simulation environments to support perception and decision-making, yet existing platforms often suffer from data contamination and limited flexibility. To mitigate this, we propose…

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…

Autonomous navigation and exploration in unmapped environments remains a significant challenge in robotics due to the difficulty robots face in making commonsense inference of unobserved geometries. Recent advancements have demonstrated…

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.…

Vision foundation models such as Contrastive Vision-Language Pre-training (CLIP) and Segment Anything (SAM) have demonstrated impressive zero-shot performance on image classification and segmentation tasks. However, the incorporation of…

Controlling the spatial and semantic structure of diffusion-generated images remains a challenge. Existing methods like ControlNet rely on handcrafted condition maps and retraining, limiting flexibility and generalization. Inversion-based…

Understanding and reconstructing the 3D world through omnidirectional perception is an inevitable trend in the development of autonomous agents and embodied intelligence. However, existing 3D occupancy prediction methods are constrained by…

Panoramic imagery provides holistic 360{\deg} visual coverage for perception in quadruped robots. However, existing occupancy prediction methods are mainly designed for wheeled autonomous driving and rely heavily on RGB cues, limiting their…

Predicting variations in complex traffic environments is crucial for the safety of autonomous driving. Recent advancements in occupancy forecasting have enabled forecasting future 3D occupied status in driving environments by observing…

In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to…

While 3D object bounding box (bbox) representation has been widely used in autonomous driving perception, it lacks the ability to capture the precise details of an object's intrinsic geometry. Recently, occupancy has emerged as a promising…

Open-vocabulary semantic segmentation requires assigning pixel-level semantic labels while supporting an open and unrestricted set of categories. Training-free CLIP-based approaches preserve strong zero-shot generalization but typically…