相关论文: World2Minecraft: Occupancy-Driven Simulated Scenes…

This paper introduces a novel architecture for trajectory-conditioned forecasting of future 3D scene occupancy. In contrast to methods that rely on variational autoencoders (VAEs) to generate discrete occupancy tokens, which inherently…

Semantic scene completion aims to infer the 3D geometric structures with semantic classes from camera or LiDAR, which provide essential occupancy information in autonomous driving. Prior endeavors concentrate on constructing the network or…

3D scene reconstruction from 2D images has been a long-standing task. Instead of estimating per-frame depth maps and fusing them in 3D, recent research leverages the neural implicit surface as a unified representation for 3D reconstruction.…

3D occupancy prediction has become a key perception task in autonomous driving, as it enables comprehensive scene understanding. Recent methods enhance this understanding by incorporating spatiotemporal information through multi-frame…

Procedural content generation for games is a growing trend in both research and industry, even though there is no consensus of how good content looks, nor how to automatically evaluate it. A number of metrics have been developed in the…

In this paper, we rethink the problem of scene reconstruction from an embodied agent's perspective: While the classic view focuses on the reconstruction accuracy, our new perspective emphasizes the underlying functions and constraints such…

Understanding and anticipating human activity is an important capability for intelligent systems in mobile robotics, autonomous driving, and video surveillance. While learning from demonstrations with on-site collected trajectory data is a…

We introduce Replica, a dataset of 18 highly photo-realistic 3D indoor scene reconstructions at room and building scale. Each scene consists of a dense mesh, high-resolution high-dynamic-range (HDR) textures, per-primitive semantic class…

Behavioural cloning uses a dataset of demonstrations to learn a behavioural policy. To overcome various learning and policy adaptation problems, we propose to use latent space to index a demonstration dataset, instantly access similar…

Vision-based 3D semantic scene completion (SSC) describes autonomous driving scenes through 3D volume representations. However, the occlusion of invisible voxels by scene surfaces poses challenges to current SSC methods in hallucinating…

Understanding how the surrounding environment changes is crucial for performing downstream tasks safely and reliably in autonomous driving applications. Recent occupancy estimation techniques using only camera images as input can provide…

As a novel 3D scene representation, semantic occupancy has gained much attention in autonomous driving. However, existing occupancy prediction methods mainly focus on designing better occupancy representations, such as tri-perspective view…

Modern tools for class-agnostic image segmentation (e.g., SegmentAnything) and open-set semantic understanding (e.g., CLIP) provide unprecedented opportunities for robot perception and mapping. While traditional closed-set metric-semantic…

State-of-the-art navigation methods leverage a spatial memory to generalize to new environments, but their occupancy maps are limited to capturing the geometric structures directly observed by the agent. We propose occupancy anticipation,…

In the realm of autonomous vehicle perception, comprehending 3D scenes is paramount for tasks such as planning and mapping. Camera-based 3D Semantic Occupancy Prediction (OCC) aims to infer scene geometry and semantics from limited…

3D semantic occupancy prediction is crucial for autonomous driving perception, offering comprehensive geometric scene understanding and semantic recognition. However, existing methods struggle with geometric misalignment in view…

Large Language Models (LLMs) can help robots reason about abstract task specifications. This requires augmenting classical representations of the environment used by robots, such as point-clouds and meshes, with natural language-based…

Understanding world dynamics is crucial for planning in autonomous driving. Recent methods attempt to achieve this by learning a 3D occupancy world model that forecasts future surrounding scenes based on current observation. However, 3D…

We introduce UnrealZoo, a collection of over 100 photo-realistic 3D virtual worlds built on Unreal Engine, designed to reflect the complexity and variability of open-world environments. We also provide a rich variety of playable entities,…

There has been a growing adoption of computer vision tools and technologies in architectural design workflows over the past decade. Notable use cases include point cloud generation, visual content analysis, and spatial awareness for robotic…