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

A major bottleneck in off-road autonomous driving research lies in the scarcity of large-scale, high-quality datasets and benchmarks. To bridge this gap, we present ORAD-3D, which, to the best of our knowledge, is the largest dataset…

3D semantic occupancy prediction is crucial for autonomous driving. While multi-modal fusion improves accuracy over vision-only methods, it typically relies on computationally expensive dense voxel or BEV tensors. We present Gau-Occ, a…

In perception for automated vehicles, safety is critical not only for the driver but also for other agents in the scene, particularly vulnerable road users such as pedestrians and cyclists. Previous representation methods, such as Bird's…

Intention prediction is a crucial task for Autonomous Driving (AD). Due to the variety of size and layout of intersections, it is challenging to predict intention of human driver at different intersections, especially unseen and irregular…

3D object detection is a critical task in autonomous driving. Recently multi-modal fusion-based 3D object detection methods, which combine the complementary advantages of LiDAR and camera, have shown great performance improvements over…

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…

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…

Inferring the 3D structure from a single image, particularly in occluded regions, remains a fundamental yet unsolved challenge in vision-centric autonomous driving. Existing unsupervised approaches typically train a neural radiance field…

Given an image or a video captured from a monocular camera, amodal layout estimation is the task of predicting semantics and occupancy in bird's eye view. The term amodal implies we also reason about entities in the scene that are occluded…

We present ONCE-3DLanes, a real-world autonomous driving dataset with lane layout annotation in 3D space. Conventional 2D lane detection from a monocular image yields poor performance of following planning and control tasks in autonomous…

Semantic occupancy prediction enables dense 3D geometric and semantic understanding for autonomous driving. However, existing camera-based approaches implicitly assume complete surround-view observations, an assumption that rarely holds in…

3D occupancy perception holds a pivotal role in recent vision-centric autonomous driving systems by converting surround-view images into integrated geometric and semantic representations within dense 3D grids. Nevertheless, current models…

3D Panoptic Occupancy Prediction aims to reconstruct a dense volumetric scene map by predicting the semantic class and instance identity of every occupied region in 3D space. Achieving such fine-grained 3D understanding requires precise…

Panoptic image segmentation is the computer vision task of finding groups of pixels in an image and assigning semantic classes and object instance identifiers to them. Research in image segmentation has become increasingly popular due to…

Monocular 3D detection is a challenging task due to the lack of accurate 3D information. Existing approaches typically rely on geometry constraints and dense depth estimates to facilitate the learning, but often fail to fully exploit the…

Autonomous vehicles require knowledge of the surrounding road layout, which can be predicted by state-of-the-art CNNs. This work addresses the current lack of data for determining lane instances, which are needed for various driving…

Open-vocabulary panoptic reconstruction offers comprehensive scene understanding, enabling advances in embodied robotics and photorealistic simulation. In this paper, we propose PanopticRecon++, an end-to-end method that formulates panoptic…

We propose a novel method for instance label segmentation of dense 3D voxel grids. We target volumetric scene representations, which have been acquired with depth sensors or multi-view stereo methods and which have been processed with…

In this paper, we explore a novel point representation for 3D occupancy prediction from multi-view images, which is named Occupancy as Set of Points. Existing camera-based methods tend to exploit dense volume-based representation to predict…

Most approaches for instance-aware semantic labeling traditionally focus on accuracy. Other aspects like runtime and memory footprint are arguably as important for real-time applications such as autonomous driving. Motivated by this…