相关论文: An Instance-Centric Panoptic Occupancy Prediction …

3D occupancy prediction plays a pivotal role in the realm of autonomous driving, as it provides a comprehensive understanding of the driving environment. Most existing methods construct dense scene representations for occupancy prediction,…

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…

In this work, we consider the safety-oriented performance of 3D object detectors in autonomous driving contexts. Specifically, despite impressive results shown by the mass literature, developers often find it hard to ensure the safe…

We propose PanopticFusion, a novel online volumetric semantic mapping system at the level of stuff and things. In contrast to previous semantic mapping systems, PanopticFusion is able to densely predict class labels of a background region…

Human driver can easily describe the complex traffic scene by visual system. Such an ability of precise perception is essential for driver's planning. To achieve this, a geometry-aware representation that quantizes the physical 3D scene…

Representing the 3D environment with instance-aware semantic and geometric information is crucial for interaction-aware robots in dynamic environments. Nevertheless, creating such a representation poses challenges due to sensor noise,…

Camera-based 3D semantic occupancy prediction offers an efficient and cost-effective solution for perceiving surrounding scenes in autonomous driving. However, existing works rely on explicit occupancy state inference, leading to numerous…

Occupancy prediction plays a pivotal role in autonomous driving (AD) due to the fine-grained geometric perception and general object recognition capabilities. However, existing methods often incur high computational costs, which contradicts…

The performance of multi-modal 3D occupancy prediction is limited by ineffective fusion, mainly due to geometry-semantics mismatch from fixed fusion strategies and surface detail loss caused by sparse, noisy annotations. The mismatch stems…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…

Developing 3D semantic occupancy prediction models often relies on dense 3D annotations for supervised learning, a process that is both labor and resource-intensive, underscoring the need for label-efficient or even label-free approaches.…

Occupancy prediction has garnered increasing attention in recent years for its comprehensive fine-grained environmental representation and strong generalization to open-set objects. However, cumbersome voxel features and 3D convolution…

Camera-based 3D semantic scene completion (SSC) offers a cost-effective solution for assessing the geometric occupancy and semantic labels of each voxel in the surrounding 3D scene with image inputs, providing a voxel-level scene perception…

Real-time 3D object detection is crucial for autonomous cars. Achieving promising performance with high efficiency, voxel-based approaches have received considerable attention. However, previous methods model the input space with features…

Monocular Semantic Occupancy Prediction aims to infer the complete 3D geometry and semantic information of scenes from only 2D images. It has garnered significant attention, particularly due to its potential to enhance the 3D perception of…

Monocular scene understanding is a foundational component of autonomous systems. Within the spectrum of monocular perception topics, one crucial and useful task for holistic 3D scene understanding is semantic scene completion (SSC), which…

The 3D occupancy prediction task has witnessed remarkable progress in recent years, playing a crucial role in vision-based autonomous driving systems. While traditional methods are limited to fixed semantic categories, recent approaches…

Open-vocabulary 3D occupancy is vital for embodied agents, which need to understand complex indoor environments where semantic categories are abundant and evolve beyond fixed taxonomies. While recent work has explored open-vocabulary…

Learning 3D scene geometry and semantics from images is a core challenge in computer vision and a key capability for autonomous driving. Since large-scale 3D annotation is prohibitively expensive, recent work explores self-supervised…