6 papers
Semantic Causality-Aware Vision-Based 3D Occupancy Prediction
Dubing Chen, Huan Zheng, Yucheng Zhou +5
Vision-based 3D semantic occupancy prediction is a critical task in 3D vision that integrates volumetric 3D reconstruction with semantic understanding. Existing methods, however, o…
Two Causes, Not One: Rethinking Omission and Fabrication Hallucinations in MLLMs
Guangzong Si, Hao Yin, Xianfei Li +4
Multimodal Large Language Models (MLLMs) have achieved impressive advances, yet object hallucination remains a persistent challenge. Existing methods, based on the flawed assumptio…
Rethinking Temporal Fusion with a Unified Gradient Descent View for 3D Semantic Occupancy Prediction
Dubing Chen, Huan Zheng, Jin Fang +6
We present GDFusion, a temporal fusion method for vision-based 3D semantic occupancy prediction (VisionOcc). GDFusion opens up the underexplored aspects of temporal fusion within t…
You Only Click Once: Single Point Weakly Supervised 3D Instance Segmentation for Autonomous Driving
Guangfeng Jiang, Jun Liu, Yongxuan Lv +5
Outdoor LiDAR point cloud 3D instance segmentation is a crucial task in autonomous driving. However, it requires laborious human efforts to annotate the point cloud for training a…
Int2Planner: An Intention-based Multi-modal Motion Planner for Integrated Prediction and Planning
Xiaolei Chen, Junchi Yan, Wenlong Liao +2
Motion planning is a critical module in autonomous driving, with the primary challenge of uncertainty caused by interactions with other participants. As most previous methods treat…
Generative Planning with 3D-vision Language Pre-training for End-to-End Autonomous Driving
Tengpeng Li, Hanli Wang, Xianfei Li +3
Autonomous driving is a challenging task that requires perceiving and understanding the surrounding environment for safe trajectory planning. While existing vision-based end-to-end…