Publications (14)
VoxDet: Rethinking 3D Semantic Occupancy Prediction as Dense Object Detection
Wuyang Li, Zhu Yu, Alexandre Alahi
3D semantic occupancy prediction aims to reconstruct the 3D geometry and semantics of the surrounding environment. With dense voxel labels, prior works typically formulate it as a…
Towards Consistent Video Geometry Estimation
Zhu Yu, Jingnan Gao, Runmin Zhang +9
ViGeo is a transformer-based model that estimates dense, temporally consistent geometry (depth, surface normals, and point maps) from video sequences using dynamic chunking attenti…
Language Driven Occupancy Prediction
Zhu Yu, Bowen Pang, Lizhe Liu +7
We introduce LOcc, an effective and generalizable framework for open-vocabulary occupancy (OVO) prediction. Previous approaches typically supervise the networks through coarse voxe…
Large Depth Completion Model from Sparse Observations
Zhu Yu, Zhengyi Zhao, Runmin Zhang +7
This work presents the Large Depth Completion Model (LDCM), a simple, effective, and robust framework for single-view metric depth estimation with sparse observations. Without rely…
SGDFormer: One-stage Transformer-based Architecture for Cross-Spectral Stereo Image Guided Denoising
Runmin Zhang, Zhu Yu, Zehua Sheng +6
Cross-spectral image guided denoising has shown its great potential in recovering clean images with rich details, such as using the near-infrared image to guide the denoising proce…
S-BEVLoc: BEV-based Self-supervised Framework for Large-scale LiDAR Global Localization
Chenghao Zhang, Lun Luo, Si-Yuan Cao +6
LiDAR-based global localization is an essential component of simultaneous localization and mapping (SLAM), which helps loop closure and re-localization. Current approaches rely on…