6 papers
SLAMFormer-: Infinite SLAM Transformer for Unbounded Frontend and Backend Processing
Zhijian Fang, Weicheng Zheng, Yijun Yuan +7
We introduce the Infinite SLAM Transformer (SLAMFormer-), the first geometric transformer capable of supporting both long-range frontend and backend processing without an e…
HMPDM: A Diffusion Model for Driving Video Prediction with Historical Motion Priors
Ke Li, Tianjia Yang, Kaidi Liang +2
Video prediction is a useful function for autonomous driving, enabling intelligent vehicles to reliably anticipate how driving scenes will evolve and thereby supporting reasoning a…
Complet4R: Geometric Complete 4D Reconstruction
Weibang Wang, Kenan Li, Zhuoguang Chen +2
We introduce Complet4R, a novel end-to-end framework for Geometric Complete 4D Reconstruction, which aims to recover temporally coherent and geometrically complete reconstruction f…
SLAM-Former: Putting SLAM into One Transformer
Yijun Yuan, Zhuoguang Chen, Kenan Li +5
We present SLAM-Former, a neural approach that integrates full SLAM capabilities into a single transformer. Similar to traditional SLAM systems, SLAM-Former comprises both a fronte…
TrackOcc: Camera-based 4D Panoptic Occupancy Tracking
Zhuoguang Chen, Kenan Li, Xiuyu Yang +3
Comprehensive and consistent dynamic scene understanding from camera input is essential for advanced autonomous systems. Traditional camera-based perception tasks like 3D object tr…
SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Driving
Yiming Li, Sihang Li, Xinhao Liu +11
Monocular scene understanding is a foundational component of autonomous systems. Within the spectrum of monocular perception topics, one crucial and useful task for holistic 3D sce…