相关论文: O3N: Omnidirectional Open-Vocabulary Occupancy Pre…

We introduce LOcc, an effective and generalizable framework for open-vocabulary occupancy (OVO) prediction. Previous approaches typically supervise the networks through coarse voxel-to-text correspondences via image features as…

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…

Crucial for autonomous exploration, online 3D occupancy prediction and mapping incrementally constructs dense spatial representations on the fly. However, recent Gaussian-centric methods struggle with structural boundary fidelity and rely…

Existing solutions for 3D semantic occupancy prediction typically treat the task as a one-shot 3D voxel-wise segmentation perception problem. These discriminative methods focus on learning the mapping between the inputs and occupancy map in…

Vision-based 3D occupancy prediction is significantly challenged by the inherent limitations of monocular vision in depth estimation. This paper introduces CVT-Occ, a novel approach that leverages temporal fusion through the geometric…

3D semantic occupancy prediction is crucial for autonomous driving, providing a dense, semantically rich environmental representation. However, existing methods focus on in-distribution scenes, making them susceptible to Out-of-Distribution…

Accurate 3D perception is essential for autonomous driving. Traditional methods often struggle with geometric ambiguity due to a lack of geometric prior. To address these challenges, we use omnidirectional depth estimation to introduce…

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…

3D occupancy prediction provides a comprehensive description of the surrounding scenes and has become an essential task for 3D perception. Most existing methods focus on offline perception from one or a few views and cannot be applied to…

A comprehensive understanding of 3D scenes is crucial in autonomous vehicles (AVs), and recent models for 3D semantic occupancy prediction have successfully addressed the challenge of describing real-world objects with varied shapes and…

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…

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect…

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…

Recent diffusion models have demonstrated remarkable performance in both 3D scene generation and perception tasks. Nevertheless, existing methods typically separate these two processes, acting as a data augmenter to generate synthetic data…

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…

3D occupancy prediction is an important task for the robustness of vision-centric autonomous driving, which aims to predict whether each point is occupied in the surrounding 3D space. Existing methods usually require 3D occupancy labels to…

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…

The 3D occupancy estimation task has become an important challenge in the area of vision-based autonomous driving recently. However, most existing camera-based methods rely on costly 3D voxel labels or LiDAR scans for training, limiting…

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…

Open-vocabulary 3D scene understanding is indispensable for embodied agents. Recent works leverage pretrained vision-language models (VLMs) for object segmentation and project them to point clouds to build 3D maps. Despite progress, a point…