In this paper, we introduce ProtoOcc, a novel 3D occupancy prediction model designed to predict the occupancy states and semantic classes of 3D voxels via a deep semantic understanding of scenes. ProtoOcc consists of two main components: the Dual Branch Encoder (DBE) and the Prototype Query Decoder (PQD). The DBE produces a new 3D voxel representation by combining 3D voxel and BEV representations across multiple scales using a dual branch structure. This design combines the BEV representation, which offers a large receptive field, with the voxel representation, known for its higher spatial resolution, thereby improving both performance and computational efficiency. The PQD employs two types of prototype-based queries to expedite the Transformer decoding process. Scene-Adaptive Prototypes are generated from the 3D voxel features of the input sample, while Scene-Agnostic Prototypes are updated during training using an Exponential Moving Average of the Scene-Adaptive Prototypes. Using these prototype-based queries for decoding, we can directly predict 3D occupancy in a single step, eliminating the need for iterative Transformer decoding. Additionally, we propose Robust Prototype Learning, which introduces noise into the prototype generation process and trains the model to denoise during the training phase. This approach enhances the robustness of ProtoOcc against degraded prototype feature quality. ProtoOcc achieves state-of-the-art performance with 45.02% mIoU on the Occ3D-nuScenes benchmark. For the single-frame method, it reaches 39.56% mIoU with 12.83 FPS on an NVIDIA RTX 3090.

Predicting the future motion of dynamic agents is of paramount importance to ensuring safety and assessing risks in motion planning for autonomous robots. In this study, we propose a two-stage motion prediction method, called R-Pred, designed to effectively utilize both scene and interaction context using a cascade of the initial trajectory proposal and trajectory refinement networks. The initial trajectory proposal network produces M trajectory proposals corresponding to the M modes of the future trajectory distribution. The trajectory refinement network enhances each of the M proposals using 1) tube-query scene attention (TQSA) and 2) proposal-level interaction attention (PIA) mechanisms. TQSA uses tube-queries to aggregate local scene context features pooled from proximity around trajectory proposals of interest. PIA further enhances the trajectory proposals by modeling inter-agent interactions using a group of trajectory proposals selected by their distances from neighboring agents. Our experiments conducted on Argoverse and nuScenes datasets demonstrate that the proposed refinement network provides significant performance improvements compared to the single-stage baseline and that R-Pred achieves state-of-the-art performance in some categories of the benchmarks.

In this paper, we propose a technique by exploiting the two-stage convolutional neural network (CNN) to improve the ranging accuracy regardless of the pulse shape of the received signal in the ultra-wideband (UWB) system. UWB system could be degraded localization accuracy according to pulse shapes between transceiver. In particular, the capability of the receiver to detect a small signal level has been improved recently, and pulse shape compatibility will become even more important for UWB devices. There are no mandatory specifications or interoperability testing, as of now, so that future compatibility issues can exacerbate positioning accuracy. The proposed method shows that precise ranging even if an unspecified pulse shape-based signal is received.