全景视界：具身智能时代下全方位视觉的崛起

摘要

全方位视觉，即利用360度视角理解环境，在机器人、工业检测和环境监测等领域变得日益重要。与传统针孔视觉相比，全方位视觉提供了全面的环境感知能力，显著提升了场景感知的完整性和决策的可靠性。然而，该领域的基础研究长期以来落后于传统针孔视觉。本次演讲揭示了具身智能时代的一个新兴趋势：在日益增长的工业需求和学术兴趣推动下，全方位视觉正迅速发展。我们重点介绍了在全方位生成、全方位感知、全方位理解及相关数据集方面取得的最新突破。结合学术界与工业界的洞见，我们提出了具身智能时代理想的环视系统架构——PANORAMA，它由四个关键子系统构成。此外，我们深入探讨了环视视觉与具身智能交叉领域的新兴趋势及其跨社区影响，并展望了未来路线图与开放挑战。本综述整合了最前沿的进展，为在具身智能时代构建鲁棒、通用的全方位智能系统，勾勒了未来研究的挑战与机遇。

English

Omnidirectional vision, using 360-degree vision to understand the environment, has become increasingly critical across domains like robotics, industrial inspection, and environmental monitoring. Compared to traditional pinhole vision, omnidirectional vision provides holistic environmental awareness, significantly enhancing the completeness of scene perception and the reliability of decision-making. However, foundational research in this area has historically lagged behind traditional pinhole vision. This talk presents an emerging trend in the embodied AI era: the rapid development of omnidirectional vision, driven by growing industrial demand and academic interest. We highlight recent breakthroughs in omnidirectional generation, omnidirectional perception, omnidirectional understanding, and related datasets. Drawing on insights from both academia and industry, we propose an ideal panoramic system architecture in the embodied AI era, PANORAMA, which consists of four key subsystems. Moreover, we offer in-depth opinions related to emerging trends and cross-community impacts at the intersection of panoramic vision and embodied AI, along with the future roadmap and open challenges. This overview synthesizes state-of-the-art advancements and outlines challenges and opportunities for future research in building robust, general-purpose omnidirectional AI systems in the embodied AI era.

全景视界：具身智能时代下全方位视觉的崛起

PANORAMA: The Rise of Omnidirectional Vision in the Embodied AI Era

摘要

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