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Urban scene reconstruction is crucial for real-world autonomous driving simulators. Although existing methods have achieved photorealistic reconstruction, they mostly focus on pinhole cameras and neglect fisheye cameras. In fact, how to effectively simulate fisheye cameras in driving scene remains an unsolved problem. In this work, we propose UniGaussian, a novel approach that learns a unified 3D Gaussian representation from multiple camera models for urban scene reconstruction in autonomous driving. Our contributions are two-fold. First, we propose a new differentiable rendering method that distorts 3D Gaussians using a series of affine transformations tailored to fisheye camera models. This addresses the compatibility issue of 3D Gaussian splatting with fisheye cameras, which is hindered by light ray distortion caused by lenses or mirrors. Besides, our method maintains real-time rendering while ensuring differentiability. Second, built on the differentiable rendering method, we design a new framework that learns a unified Gaussian representation from multiple camera models. By applying affine transformations to adapt different camera models and regularizing the shared Gaussians with supervision from different modalities, our framework learns a unified 3D Gaussian representation with input data from multiple sources and achieves holistic driving scene understanding. As a result, our approach models multiple sensors (pinhole and fisheye cameras) and modalities (depth, semantic, normal and LiDAR point clouds). Our experiments show that our method achieves superior rendering quality and fast rendering speed for driving scene simulation., Comment: Technical report

Generating 3D vehicle assets from in-the-wild observations is crucial to autonomous driving. Existing image-to-3D methods cannot well address this problem because they learn generation merely from image RGB information without a deeper understanding of in-the-wild vehicles (such as car models, manufacturers, etc.). This leads to their poor zero-shot prediction capability to handle real-world observations with occlusion or tricky viewing angles. To solve this problem, in this work, we propose VQA-Diff, a novel framework that leverages in-the-wild vehicle images to create photorealistic 3D vehicle assets for autonomous driving. VQA-Diff exploits the real-world knowledge inherited from the Large Language Model in the Visual Question Answering (VQA) model for robust zero-shot prediction and the rich image prior knowledge in the Diffusion model for structure and appearance generation. In particular, we utilize a multi-expert Diffusion Models strategy to generate the structure information and employ a subject-driven structure-controlled generation mechanism to model appearance information. As a result, without the necessity to learn from a large-scale image-to-3D vehicle dataset collected from the real world, VQA-Diff still has a robust zero-shot image-to-novel-view generation ability. We conduct experiments on various datasets, including Pascal 3D+, Waymo, and Objaverse, to demonstrate that VQA-Diff outperforms existing state-of-the-art methods both qualitatively and quantitatively.

In this technical report, we present a solution for 3D object generation of ICCV 2023 OmniObject3D Challenge. In recent years, 3D object generation has made great process and achieved promising results, but it remains a challenging task due to the difficulty of generating complex, textured and high-fidelity results. To resolve this problem, we study learning effective NeRFs and SDFs representations with 3D Generative Adversarial Networks (GANs) for 3D object generation. Specifically, inspired by recent works, we use the efficient geometry-aware 3D GANs as the backbone incorporating with label embedding and color mapping, which enables to train the model on different taxonomies simultaneously. Then, through a decoder, we aggregate the resulting features to generate Neural Radiance Fields (NeRFs) based representations for rendering high-fidelity synthetic images. Meanwhile, we optimize Signed Distance Functions (SDFs) to effectively represent objects with 3D meshes. Besides, we observe that this model can be effectively trained with only a few images of each object from a variety of classes, instead of using a great number of images per object or training one model per class. With this pipeline, we can optimize an effective model for 3D object generation. This solution is one of the final top-3-place solutions in the ICCV 2023 OmniObject3D Challenge.

In this paper, we investigate an unmanned aerial vehicle (UAV)-assisted integrated communication and localization network in emergency scenarios where a single UAV is deployed as both an airborne base station (BS) and anchor node to assist ground BSs in communication and localization services. We formulate an optimization problem to maximize the sum communication rate of all users under localization accuracy constraints by jointly optimizing the 3D position of the UAV, and communication bandwidth and power allocation of the UAV and ground BSs. To address the intractable localization accuracy constraints, we introduce a new performance metric and geometrically characterize the UAV feasible deployment region in which the localization accuracy constraints are satisfied. Accordingly, we combine Gibbs sampling (GS) and block coordinate descent (BCD) techniques to tackle the non-convex joint optimization problem. Numerical results show that the proposed method attains almost identical rate performance as the meta-heuristic benchmark method while reducing the CPU time by 89.3%., Comment: The paper has been accepted for publication by IEEE Wireless Communications Letters

In emergency scenarios, unmanned aerial vehicles (UAVs) can be deployed to assist localization and communication services for ground terminals. In this paper, we propose a new integrated air-ground networking paradigm that uses dual-functional UAVs to assist the ground networks for improving both communication and localization performance. We investigate the optimization problem of deploying the minimal number of UAVs to satisfy the communication and localization requirements of ground users. The problem has several technical difficulties including the cardinality minimization, the non-convexity of localization performance metric regarding UAV location, and the association between user and communication terminal. To tackle the difficulties, we adopt D-optimality as the localization performance metric, and derive the geometric characteristics of the feasible UAV hovering regions in 2D and 3D based on accurate approximation values. We solve the simplified 2D projection deployment problem by transforming the problem into a minimum hitting set problem, and propose a low-complexity algorithm to solve it. Through numerical simulations, we compare our proposed algorithm with benchmark methods. The number of UAVs required by the proposed algorithm is close to the optimal solution, while other benchmark methods require much more UAVs to accomplish the same task.

In this paper, we consider a UAV-enabled MEC platform that serves multiple mobile ground users with random movements and task arrivals. We aim to minimize the average weighted energy consumption of all users subject to the average UAV energy consumption and data queue stability constraints. To control the system operation in sequential time slots, we formulate the problem as a multi-stage stochastic optimization, and propose an online algorithm that optimizes the resource allocation and the UAV trajectory in each stage. We adopt Lyapunov optimization to convert the multi-stage stochastic problem into per-slot deterministic problems with much less optimizing variables. To tackle the non-convex per-slot problem, we use the successive convex approximation (SCA) technique to jointly optimize the resource allocation and the UAV movement. Simulation results show that the proposed online algorithm can satisfy the average UAV energy and queue stability constraints, and significantly outperform the other considered benchmark methods in reducing the energy consumption of ground users.