自动驾驶

OmniD: Generalizable Robot Manipulation Policy via Image-Based BEV Representation

Jilei Mao, Jiarui Guan, Yingjuan Tang, Qirui Hu, Zhihang Li, Junjie Yu, Yongjie Mao, Yunzhe Sun, Shuang Liu, Xiaozhu Ju

机构 * Beijing Innovation Center of Humanoid Robotics（北京人形机器人创新中心） 纠错

专题命中 BEV与占用 ：BEV(title,abstract)；分类 cs.RO

AutoOcc: Automatic Open-Ended Semantic Occupancy Annotation via Vision-Language Guided Gaussian Splatting

Xiaoyu Zhou, Jingqi Wang, Yongtao Wang, Yufei Wei, Nan Dong, Ming-Hsuan Yang

机构 * Wangxuan Institute of Computer Technology, Peking University（北京大学计算机技术研究院） ； Chongqing Changan Automobile Co., Ltd（重庆长安汽车有限公司） ； University of California, Merced（加州大学默塞德分校） 纠错

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.CV

Comments ICCV 2025 Hightlight (main conference)

Equivariant Map and Agent Geometry for Autonomous Driving Motion Prediction

Yuping Wang, Jier Chen

机构 * University of Michigan（密歇根大学） ； Shanghai Jiao Tong University（上海交通大学） 纠错

专题命中 BEV与占用 ：autonomous driving(title,abstract)；分类 cs.RO

EmbodiedOcc++: Boosting Embodied 3D Occupancy Prediction with Plane Regularization and Uncertainty Sampler

Hao Wang, Xiaobao Wei, Xiaoan Zhang, Jianing Li, Chengyu Bai, Ying Li, Ming Lu, Wenzhao Zheng, Shanghang Zhang

机构 * State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University（多媒体信息处理国家重点实验室，计算机学院，北京大学） ； School of electronic science and engineering, Nanjing University（电子科学与工程学院，南京大学） ； Berkeley Artificial Intelligence Research Lab, Department of EECS, University of California, Berkeley（伯克利人工智能研究实验室，电子工程与计算机科学系，加州大学伯克利分校） 纠错

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.CV

Comments Accepted by ACM MM 2025

GaussianOcc: Fully Self-supervised and Efficient 3D Occupancy Estimation with Gaussian Splatting

Wanshui Gan, Fang Liu, Hongbin Xu, Ningkai Mo, Naoto Yokoya

机构 * University of Tokyo（东京大学） ； RIKEN（日本研究机构） ； South China University of Technology（华南理工大学） ； Chinese Academy of Sciences（中国科学院） 纠错

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.CV

Comments Project page: https://ganwanshui.github.io/GaussianOcc/

Occupancy-SLAM: An Efficient and Robust Algorithm for Simultaneously Optimizing Robot Poses and Occupancy Map

Yingyu Wang, Liang Zhao, Shoudong Huang

机构 * Robotics Institute, University of Technology Sydney（技术大学悉尼机器人研究所） ； School of Informatics, University of Edinburgh（爱丁堡大学信息学院） 纠错

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.RO

Comments Accepted for publication in the IEEE Transactions on Robotics (T-RO), 2025

BVMatch: Lidar-based Place Recognition Using Bird's-eye View Images

Lun Luo, Si-Yuan Cao, Bin Han, Hui-Liang Shen, Junwei Li

专题命中 BEV与占用 ：LiDAR(title,abstract)；分类 cs.CV

Journal ref in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 6076-6083, July 2021

Towards Efficient Occupancy Mapping via Gaussian Process Latent Field Shaping

Cedric Le Gentil, Cedric Pradalier, Timothy D. Barfoot

机构 * University of（大学） 纠错

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.RO

Comments Presented at RSS 2025 Workshop: Gaussian Representations for Robot Autonomy: Challenges and Opportunities

VoxelSplat: Dynamic Gaussian Splatting as an Effective Loss for Occupancy and Flow Prediction

Ziyue Zhu, Shenlong Wang, Jin Xie, Jiang-jiang Liu, Jingdong Wang, Jian Yang

机构 * PCA Lab, VCIP, College of Computer Science, Nankai University（PCA实验室、VCIP、计算机科学学院、南开大学） 纠错

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.CV

Comments Accepted by CVPR 2025 Project Page: https://zzy816.github.io/VoxelSplat-Demo/

S2GO: Streaming Sparse Gaussian Occupancy Prediction

Jinhyung Park, Yihan Hu, Chensheng Peng, Wenzhao Zheng, Kris Kitani, Wei Zhan

机构 * Applied Intuition ； Carnegie Mellon University（卡内基梅隆大学） ； University of California, Berkeley（加州大学伯克利分校） 纠错

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.CV

TACOcc:Target-Adaptive Cross-Modal Fusion with Volume Rendering for 3D Semantic Occupancy

Luyao Lei, Shuo Xu, Yifan Bai, Xing Wei

机构 * School of Software Engineering（软件工程学院） ； Xi’an Jiaotong University（西安交通大学） 纠错

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.CV

Online Synthesis of Control Barrier Functions with Local Occupancy Grid Maps for Safe Navigation in Unknown Environments

Yuepeng Zhang, Yu Chen, Yuda Li, Shaoyuan Li, Xiang Yin

机构 * Department of Automation, Shanghai Jiao Tong University（自动化系，上海交通大学） 纠错

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.RO

HandOcc: NeRF-based Hand Rendering with Occupancy Networks

Maksym Ivashechkin, Oscar Mendez, Richard Bowden

机构 * CVSSP, University of Surrey（CVSSP、萨里大学） 纠错

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.CV

LOOC: Localizing Organs using Occupancy Networks and Body Surface Depth Images

Pit Henrich, Franziska Mathis-Ullrich

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.CV

Comments Published in IEEE Access

Journal ref IEEE Access, vol. 13, pp. 36930-36938, 2025

BEV-GS: Feed-forward Gaussian Splatting in Bird's-Eye-View for Road Reconstruction

Wenhua Wu, Tong Zhao, Chensheng Peng, Lei Yang, Yintao Wei, Zhe Liu, Hesheng Wang

专题命中 BEV与占用 ：BEV(title,abstract)；分类 cs.RO

Rethinking Temporal Fusion with a Unified Gradient Descent View for 3D Semantic Occupancy Prediction

Dubing Chen, Huan Zheng, Jin Fang, Xingping Dong, Xianfei Li, Wenlong Liao, Tao He, Pai Peng, Jianbing Shen

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.CV

Comments CVPR 2025

DGOcc: Depth-aware Global Query-based Network for Monocular 3D Occupancy Prediction

Xu Zhao, Pengju Zhang, Bo Liu, Yihong Wu

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.CV

Comments under review

U-BEV: Height-aware Bird's-Eye-View Segmentation and Neural Map-based Relocalization

Andrea Boscolo Camiletto, Alfredo Bochicchio, Alexander Liniger, Dengxin Dai, Abel Gawel

专题命中 BEV与占用 ：BEV(title,abstract)；分类 cs.CV

Comments Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

MM-LINS: a Multi-Map LiDAR-Inertial System for Over-Degenerate Environments

Yongxin Ma, Jie Xu, Shenghai Yuan, Tian Zhi, Wenlu Yu, Jun Zhou, Lihua Xie

专题命中 BEV与占用 ：LiDAR(title,abstract)；分类 cs.RO

Comments Accepted by IEEE Transactions on Intelligent Vehicles

Online Temporal Fusion for Vectorized Map Construction in Mapless Autonomous Driving

Jiagang Chen, Liangliang Pan, Shunping Ji, Ji Zhao, Zichao Zhang

专题命中 BEV与占用 ：autonomous driving(title,abstract)；分类 cs.RO

Comments 8 pages, 9 figures

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 4, pp. 3948-3955, April 2025

OccMamba: Semantic Occupancy Prediction with State Space Models

Heng Li, Yuenan Hou, Xiaohan Xing, Yuexin Ma, Xiao Sun, Yanyong Zhang

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.CV

Comments 13 pages, 5 figures

Learning A Zero-shot Occupancy Network from Vision Foundation Models via Self-supervised Adaptation

Sihao Lin, Daqi Liu, Ruochong Fu, Dongrui Liu, Andy Song, Hongwei Xie, Zhihui Li, Bing Wang, Xiaojun Chang

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.CV

Comments preprint

Uncertainty-Aware Visual-Inertial SLAM with Volumetric Occupancy Mapping

Jaehyung Jung, Simon Boche, Sebastián Barbas Laina, Stefan Leutenegger

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.RO

Comments 7 pages, 4 figures, 5 tables, accepted in ICRA 2025

Deep Height Decoupling for Precise Vision-based 3D Occupancy Prediction

Yuan Wu, Zhiqiang Yan, Zhengxue Wang, Xiang Li, Le Hui, Jian Yang

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.CV

BEV-DWPVO: BEV-based Differentiable Weighted Procrustes for Low Scale-drift Monocular Visual Odometry on Ground

Yufei Wei, Sha Lu, Wangtao Lu, Rong Xiong, Yue Wang

专题命中 BEV与占用 ：BEV(title,abstract)；分类 cs.RO

$α$-OCC: Uncertainty-Aware Camera-based 3D Semantic Occupancy Prediction

Sanbao Su, Nuo Chen, Chenchen Lin, Felix Juefei-Xu, Chen Feng, Fei Miao

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.CV

Dual-BEV Nav: Dual-layer BEV-based Heuristic Path Planning for Robotic Navigation in Unstructured Outdoor Environments

Jianfeng Zhang, Hanlin Dong, Jian Yang, Jiahui Liu, Shibo Huang, Ke Li, Xuan Tang, Xian Wei, Xiong You

专题命中 BEV与占用 ：BEV(title,abstract)；分类 cs.RO

Visual-Lidar Map Alignment for Infrastructure Inspections

Jake McLaughlin, Nicholas Charron, Sriram Narasimhan

专题命中 BEV与占用 ：LiDAR(title,abstract)；分类 cs.RO

Comments 8 pages, 8 figures, for associated code see https://github.com/jakemclaughlin6/vlma

Grid-based Submap Joining: An Efficient Algorithm for Simultaneously Optimizing Global Occupancy Map and Local Submap Frames

Yingyu Wang, Liang Zhao, Shoudong Huang

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.RO

Comments Accepted by IROS 2024

Particle-based Instance-aware Semantic Occupancy Mapping in Dynamic Environments

Gang Chen, Zhaoying Wang, Wei Dong, Javier Alonso-Mora

专题命中 BEV与占用 ：occupancy(title,abstract)；分类 cs.RO