相关论文: OccAny: Generalized Unconstrained Urban 3D Occupan…

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…

Driving scene generation is a critical domain for autonomous driving, enabling downstream applications, including perception and planning evaluation. Occupancy-centric methods have recently achieved state-of-the-art results by offering…

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…

Data-driven autonomous driving simulation has long been constrained by its heavy reliance on pre-recorded driving logs or spatial priors, such as HD maps. This fundamental dependency severely limits scalability, restricting open-ended…

Estimating 3D occupancy and motion at the vehicle's surroundings is essential for autonomous driving, enabling situational awareness in dynamic environments. Existing approaches jointly learn geometry and motion but rely on expensive 3D…

Vision-based occupancy prediction, also known as 3D Semantic Scene Completion (SSC), presents a significant challenge in computer vision. Previous methods, confined to onboard processing, struggle with simultaneous geometric and semantic…

The autonomous driving community has shown significant interest in 3D occupancy prediction, driven by its exceptional geometric perception and general object recognition capabilities. To achieve this, current works try to construct a…

Point clouds are crucial for capturing three-dimensional data but often suffer from incompleteness due to limitations such as resolution and occlusion. Traditional methods typically rely on point-based approaches within discriminative…

3D semantic occupancy prediction requires accurate 2D-to-3D feature lifting, yet current methods restrict camera geometry to initial projections. Subsequent operations like offset learning, attention weighting, and cross-camera aggregation…

3D semantic occupancy prediction is a pivotal task in the field of autonomous driving. Recent approaches have made great advances in 3D semantic occupancy predictions on a single modality. However, multi-modal semantic occupancy prediction…

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 has rapidly become a research focus in the fields of robotics and autonomous driving environment perception due to its ability to provide more realistic geometric perception and its closer integration with downstream…

Accurate perception of the surrounding environment is essential for safe autonomous driving. 3D occupancy prediction, which estimates detailed 3D structures of roads, buildings, and other objects, is particularly important for…

Determining the occupancy status of locations in the environment is a fundamental task for safety-critical robotic applications. Traditional occupancy grid mapping methods subdivide the environment into a grid of voxels, each associated…

3D occupancy becomes a promising perception representation for autonomous driving to model the surrounding environment at a fine-grained scale. However, it remains challenging to efficiently aggregate 3D occupancy over time across multiple…

We describe an approach to predict open-vocabulary 3D semantic voxel occupancy map from input 2D images with the objective of enabling 3D grounding, segmentation and retrieval of free-form language queries. This is a challenging problem…

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…

We introduce a dual contouring method that provides state-of-the-art performance for occupancy functions while achieving computation times of a few seconds. Our method is learning-free and carefully designed to maximize the use of GPU…

3D semantic occupancy prediction is a cornerstone for embodied AI, enabling agents to perceive dense scene geometry and semantics incrementally from monocular video streams. However, current online frameworks face two critical bottlenecks:…

Semantic occupancy has recently gained significant traction as a prominent 3D scene representation. However, most existing methods rely on large and costly datasets with fine-grained 3D voxel labels for training, which limits their…