相关论文: O3N: Omnidirectional Open-Vocabulary Occupancy Pre…
Humanoid robot technology is advancing rapidly, with manufacturers introducing diverse heterogeneous visual perception modules tailored to specific scenarios. Among various perception paradigms, occupancy-based representation has become…
Recent advancements in radiance field rendering, exemplified by Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), have significantly progressed 3D modeling and reconstruction. The use of multiple 360-degree omnidirectional…
Estimating the 3D world from 2D monocular images is a fundamental yet challenging task due to the labour-intensive nature of 3D annotations. To simplify label acquisition, this work proposes a novel approach that bridges 2D vision…
Existing vision-based 3D occupancy prediction methods are inherently limited in accuracy due to their exclusive reliance on street-view imagery, neglecting the potential benefits of incorporating satellite views. We propose SA-Occ, the…
Occupancy prediction has attracted intensive attention and shown great superiority in the development of autonomous driving systems. The fine-grained environmental representation brought by occupancy prediction in terms of both geometry and…
Autonomous driving has the potential to significantly enhance productivity and provide numerous societal benefits. Ensuring robustness in these safety-critical systems is essential, particularly when vehicles must navigate adverse weather…
Understanding dynamic 3D environments in a spatially continuous and temporally consistent manner is fundamental for robotics and autonomous driving. While recent advances in occupancy prediction provide a unified representation of scene…
Semantic and panoptic occupancy prediction for road scene analysis provides a dense 3D representation of the ego vehicle's surroundings. Current camera-only approaches typically rely on costly dense 3D supervision or require training models…
Forecasting the scalable future states of surrounding traffic participants in complex traffic scenarios is a critical capability for autonomous vehicles, as it enables safe and feasible decision-making. Recent successes in learning-based…
3D semantic occupancy prediction is essential for achieving safe, reliable autonomous driving and robotic navigation. Compared to camera-only perception systems, multi-modal pipelines, especially LiDAR-camera fusion methods, can produce…
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 occupancy prediction holds significant promise in the fields of robot perception and autonomous driving, which quantifies 3D scenes into grid cells with semantic labels. Recent works mainly utilize complete occupancy labels in 3D voxel…
3D object detection plays a crucial role in autonomous systems, yet existing methods are limited by closed-set assumptions and struggle to recognize novel objects and their attributes in real-world scenarios. We propose OVODA, a novel…
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 semantic occupancy prediction aims to obtain 3D fine-grained geometry and semantics of the surrounding scene and is an important task for the robustness of vision-centric autonomous driving. Most existing methods employ dense grids such…
Efficient and high-accuracy 3D occupancy prediction is vital for the performance of autonomous driving systems. However, existing methods struggle to balance precision and efficiency: high-accuracy approaches are often hindered by heavy…
The prediction of 3D semantic occupancy enables autonomous vehicles (AVs) to perceive the fine-grained geometric and semantic scene structure for safe navigation and decision-making. Existing methods mainly rely on either voxel-based…
In the current state of 3D object detection research, the severe scarcity of annotated 3D data, substantial disparities across different data modalities, and the absence of a unified architecture, have impeded the progress towards the goal…
3D occupancy prediction is important for autonomous driving due to its comprehensive perception of the surroundings. To incorporate sequential inputs, most existing methods fuse representations from previous frames to infer the current 3D…
Multimodal 3D occupancy prediction has garnered significant attention for its potential in autonomous driving. However, most existing approaches are single-modality: camera-based methods lack depth information, while LiDAR-based methods…