Xiaoyang Yan

Huake Wang, Xiaoyang Yan, Xingsong Hou et al.

Low-light image enhancement strives to improve the contrast, adjust the visibility, and restore the distortion in color and texture. Existing methods usually pay more attention to improving the visibility and contrast via increasing the lightness of low-light images, while disregarding the significance of color and texture restoration for high-quality images. Against above issue, we propose a novel luminance and chrominance dual branch network, termed LCDBNet, for low-light image enhancement, which divides low-light image enhancement into two sub-tasks, e.g., luminance adjustment and chrominance restoration. Specifically, LCDBNet is composed of two branches, namely luminance adjustment network (LAN) and chrominance restoration network (CRN). LAN takes responsibility for learning brightness-aware features leveraging long-range dependency and local attention correlation. While CRN concentrates on learning detail-sensitive features via multi-level wavelet decomposition. Finally, a fusion network is designed to blend their learned features to produce visually impressive images. Extensive experiments conducted on seven benchmark datasets validate the effectiveness of our proposed LCDBNet, and the results manifest that LCDBNet achieves superior performance in terms of multiple reference/non-reference quality evaluators compared to other state-of-the-art competitors. Our code and pretrained model will be available.

Fulong Ma, Xiaoyang Yan, Guoyang Zhao et al.

Monocular 3D object detection plays a crucial role in autonomous driving. However, existing monocular 3D detection algorithms depend on 3D labels derived from LiDAR measurements, which are costly to acquire for new datasets and challenging to deploy in novel environments. Specifically, this study investigates the pipeline for training a monocular 3D object detection model on a diverse collection of 3D and 2D datasets. The proposed framework comprises three components: (1) a robust monocular 3D model capable of functioning across various camera settings, (2) a selective-training strategy to accommodate datasets with differing class annotations, and (3) a pseudo 3D training approach using 2D labels to enhance detection performance in scenes containing only 2D labels. With this framework, we could train models on a joint set of various open 3D/2D datasets to obtain models with significantly stronger generalization capability and enhanced performance on new dataset with only 2D labels. We conduct extensive experiments on KITTI/nuScenes/ONCE/Cityscapes/BDD100K datasets to demonstrate the scaling ability of the proposed method.

Xiaoyang Yan, Muleilan Pei, Shaojie Shen

3D semantic occupancy prediction has become a crucial perception task for comprehensive scene understanding in autonomous driving. While recent advances have explored 3D Gaussian splatting for occupancy modeling to substantially reduce computational overhead, the generation of high-quality 3D Gaussians relies heavily on accurate geometric cues, which are often insufficient in purely vision-centric paradigms. To bridge this gap, we advocate for injecting the strong geometric grounding capability from Vision Foundation Models (VFMs) into occupancy prediction. In this regard, we introduce Visual Geometry Grounded Gaussian Splatting (VG3S), a novel framework that empowers Gaussian-based occupancy prediction with cross-view 3D geometric grounding. Specifically, to fully exploit the rich 3D geometric priors from a frozen VFM, we propose a plug-and-play hierarchical geometric feature adapter, which can effectively transform generic VFM tokens via feature aggregation, task-specific alignment, and multi-scale restructuring. Extensive experiments on the nuScenes occupancy benchmark demonstrate that VG3S achieves remarkable improvements of 12.6% in IoU and 7.5% in mIoU over the baseline. Furthermore, we show that VG3S generalizes seamlessly across diverse VFMs, consistently enhancing occupancy prediction accuracy and firmly underscoring the immense value of integrating priors derived from powerful, pre-trained geometry-grounded VFMs.

Xiaoyang Yan, Muleilan Pei, Shaojie Shen

3D occupancy prediction is critical for comprehensive scene understanding in vision-centric autonomous driving. Recent advances have explored utilizing 3D semantic Gaussians to model occupancy while reducing computational overhead, but they remain constrained by insufficient multi-view spatial interaction and limited multi-frame temporal consistency. To overcome these issues, in this paper, we propose a novel Spatial-Temporal Gaussian Splatting (ST-GS) framework to enhance both spatial and temporal modeling in existing Gaussian-based pipelines. Specifically, we develop a guidance-informed spatial aggregation strategy within a dual-mode attention mechanism to strengthen spatial interaction in Gaussian representations. Furthermore, we introduce a geometry-aware temporal fusion scheme that effectively leverages historical context to improve temporal continuity in scene completion. Extensive experiments on the large-scale nuScenes occupancy prediction benchmark showcase that our proposed approach not only achieves state-of-the-art performance but also delivers markedly better temporal consistency compared to existing Gaussian-based methods.