1 code implementation • 27 Nov 2023 • Wenzhao Zheng, Weiliang Chen, Yuanhui Huang, Borui Zhang, Yueqi Duan, Jiwen Lu
In this paper, we explore a new framework of learning a world model, OccWorld, in the 3D Occupancy space to simultaneously predict the movement of the ego car and the evolution of the surrounding scenes.
1 code implementation • 21 Nov 2023 • Yuanhui Huang, Wenzhao Zheng, Borui Zhang, Jie zhou, Jiwen Lu
Our SelfOcc outperforms the previous best method SceneRF by 58. 7% using a single frame as input on SemanticKITTI and is the first self-supervised work that produces reasonable 3D occupancy for surround cameras on nuScenes.
1 code implementation • 31 Aug 2023 • Sicheng Zuo, Wenzhao Zheng, Yuanhui Huang, Jie zhou, Jiwen Lu
To address this, we propose a cylindrical tri-perspective view to represent point clouds effectively and comprehensively and a PointOcc model to process them efficiently.
2 code implementations • CVPR 2023 • Yuanhui Huang, Wenzhao Zheng, Yunpeng Zhang, Jie zhou, Jiwen Lu
To lift image features to the 3D TPV space, we further propose a transformer-based TPV encoder (TPVFormer) to obtain the TPV features effectively.
Ranked #1 on Prediction Of Occupancy Grid Maps on nuScenes