SurroundSDF: Implicit 3D Scene Understanding Based on Signed Distance Field

arXiv:2403.14366v1 Announce Type: new
Abstract: Vision-centric 3D environment understanding is both vital and challenging for autonomous driving systems. Recently, object-free methods have attracted considerable attention. Such methods perceive the world by predicting the semantics of discrete voxel grids but fail to construct continuous and accurate obstacle surfaces. To this end, in this paper, we propose SurroundSDF to implicitly predict the signed distance field (SDF) and semantic field for the continuous perception from surround images. Specifically, we introduce a query-based approach …

abstract arxiv attention autonomous autonomous driving autonomous driving systems construct continuous cs.cv driving environment free object semantics systems type understanding vision vital voxel world