arXiv subjects

Samuel Sze

Publications and source records attributed to Samuel Sze.

3 recordsLinked to original sources

arXiv2025

MinkOcc: Towards real-time label-efficient semantic occupancy prediction

Developing 3D semantic occupancy prediction models often relies on dense 3D annotations for supervised learning, a process that is both labor and resource-intensive, underscoring the need for label-efficient or even label-free approaches. To address this, we introduce MinkOcc, a multi-modal 3D semantic occupancy prediction framework for cameras and LiDARs that proposes a two-step semi-supervised training procedure. Here, a small dataset of explicitly 3D annotations warm-starts the training process; then, the supervision is continued by simpler-to-annotate accumulated LiDAR sweeps and images -- semantically labelled through vision foundational models. MinkOcc effectively utilizes these sensor-rich supervisory cues and reduces reliance on manual labeling by 90\% while maintaining competitive accuracy. In addition, the proposed model incorporates information from LiDAR and camera data through early fusion and leverages sparse convolution networks for real-time prediction. With its efficiency in both supervision and computation, we aim to extend MinkOcc beyond curated datasets, enabling broader real-world deployment of 3D semantic occupancy prediction in autonomous driving.

cs.CV↗

arXiv2024

Real-time 3D semantic occupancy prediction for autonomous vehicles using memory-efficient sparse convolution

In autonomous vehicles, understanding the surrounding 3D environment of the ego vehicle in real-time is essential. A compact way to represent scenes while encoding geometric distances and semantic object information is via 3D semantic occupancy maps. State of the art 3D mapping methods leverage transformers with cross-attention mechanisms to elevate 2D vision-centric camera features into the 3D domain. However, these methods encounter significant challenges in real-time applications due to their high computational demands during inference. This limitation is particularly problematic in autonomous vehicles, where GPU resources must be shared with other tasks such as localization and planning. In this paper, we introduce an approach that extracts features from front-view 2D camera images and LiDAR scans, then employs a sparse convolution network (Minkowski Engine), for 3D semantic occupancy prediction. Given that outdoor scenes in autonomous driving scenarios are inherently sparse, the utilization of sparse convolution is particularly apt. By jointly solving the problems of 3D scene completion of sparse scenes and 3D semantic segmentation, we provide a more efficient learning framework suitable for real-time applications in autonomous vehicles. We also demonstrate competitive accuracy on the nuScenes dataset.

cs.RO↗

arXiv2024

RobotCycle: Assessing Cycling Safety in Urban Environments

This paper introduces RobotCycle, a novel ongoing project that leverages Autonomous Vehicle (AV) research to investigate how road infrastructure influences cyclist behaviour and safety during real-world journeys. The project's requirements were defined in collaboration with key stakeholders, including city planners, cyclists, and policymakers, informing the design of risk and safety metrics and the data collection criteria. We propose a data-driven approach relying on a novel, rich dataset of diverse traffic scenes and scenarios captured using a custom-designed wearable sensing unit. By analysing road-user trajectories, we identify normal path deviations indicating potential risks or hazardous interactions related to infrastructure elements in the environment. Our analysis correlates driving profiles and trajectory patterns with local road segments, driving conditions, and road-user interactions to predict traffic behaviours and identify critical scenarios. Moreover, by leveraging advancements in AV research, the project generates detailed 3D High-Definition Maps (HD Maps), traffic flow patterns, and trajectory models to provide a comprehensive assessment and analysis of the behaviour of all traffic agents. These data can then inform the design of cyclist-friendly road infrastructure, ultimately enhancing road safety and cyclability. The project provides valuable insights for enhancing cyclist protection and advancing sustainable urban mobility.

cs.RO↗