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3D occupancy prediction is crucial for robust autonomous driving systems as it enables comprehensive perception of environmental structures and semantics.
Superquadrics and angle-preserving transformations
Alan H Barr · 1981
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Segmentation and recovery of superquadrics
Ales Jaklic, Ales Leonardis, and Franc Solina · 2000
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Multi-view 3d object detection network for autonomous driving
Xiaozhi Chen, Huimin Ma, Ji Wan, Bo Li, and Tian Xia · 2017
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The lovász-softmax loss: A tractable surrogate for the optimization of the intersection-over-union measure in neural networks
Maxim Berman, Amal Rannen Triki, and Matthew B Blaschko · 2018
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Voxelnet: End-to-end learning for point cloud based 3d object detection
Yin Zhou and Oncel Tuzel · 2018
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3d semantic scene completion from a single depth image using adversarial training
Yueh-Tung Chen, Martin Garbade, and Juergen Gall · 2019
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Pointpillars: Fast encoders for object detection from point clouds
Alex H Lang, Sourabh Vora, Holger Caesar, Lubing Zhou, Jiong Yang, and Oscar Beijbom · 2019
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nuscenes: A multimodal dataset for autonomous driving
Holger Caesar, Varun Bankiti, Alex H Lang, Sourabh Vora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yu Pan, Giancarlo Baldan, and Oscar Beijbom · 2020
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3d sketch-aware semantic scene completion via semi-supervised structure prior
Xiaokang Chen, Kwan-Yee Lin, Chen Qian, Gang Zeng, and Hongsheng Li · 2020
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Anisotropic convolutional networks for 3d semantic scene completion
Jie Li, Kai Han, Peng Wang, Yu Liu, and Xia Yuan · 2020
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Amvnet: Assertion-based multi-view fusion network for lidar semantic segmentation
Venice Erin Liong, Thi Ngoc Tho Nguyen, Sergi Widjaja, Dhananjai Sharma, and Zhuang Jie Chong · 2020
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Atlas: End-to-end 3d scene reconstruction from posed images
Zak Murez, Tarrence van As, James Bartolozzi, Ayan Sinha, Vijay Badrinarayanan, and Andrew Rabinovich · 2020
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Lmscnet: Lightweight multiscale 3d semantic completion
Luis Roldao, Raoul de Charette, and Anne Verroust-Blondet · 2020
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Searching efficient 3d architectures with sparse point-voxel convolution
Haotian Tang, Zhijian Liu, Shengyu Zhao, Yujun Lin, Ji Lin, Hanrui Wang, and Song Han · 2020
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2-s3net: Attentive feature fusion with adaptive feature selection for sparse semantic segmentation network
Ran Cheng, Ryan Razani, Ehsan Taghavi, Enxu Li, and Bingbing Liu · 2021
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Sparse single sweep lidar point cloud segmentation via learning contextual shape priors from scene completion
Xu Yan, Jiantao Gao, Jie Li, Ruimao Zhang, Zhen Li, Rui Huang, and Shuguang Cui · 2021
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Drinet++: Efficient voxel-as-point point cloud segmentation
Maosheng Ye, Rui Wan, Shuangjie Xu, Tongyi Cao, and Qifeng Chen · 2021
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Monoscene: Monocular 3d semantic scene completion
Anh-Quan Cao and Raoul de Charette · 2022
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Bevformer: Learning bird’s-eye-view representation from multi-camera images via spatiotemporal transformers
Zhiqi Li, Wenhai Wang, Hongyang Li, Enze Xie, Chonghao Sima, Tong Lu, Qiao Yu, and Jifeng Dai · 2022
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Lidarmultinet: Towards a unified multi-task network for lidar perception
Dongqiangzi Ye, Zixiang Zhou, Weijia Chen, Yufei Xie, Yu Wang, Panqu Wang, and Hassan Foroosh · 2022
Cited alongside, same era.
Scenerf: Self-supervised monocular 3d scene reconstruction with radiance fields
Anh-Quan Cao and Raoul de Charette · 2023
Cited alongside, same era.
Pointocc: Cylindrical tri-perspective view for point-based 3d semantic occupancy prediction
Sicheng Zuo, Wenzhao Zheng, Yuanhui Huang, Jie Zhou, and Jiwen Lu · 2023
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Probabilistic gaussian superposition for efficient 3d occupancy prediction
Yuanhui Huang, Amonnut Thammatadatrakoon, Wenzhao Zheng, Yunpeng Zhang, Dalong Du, and Jiwen Lu · 2024
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Selfocc: Self-supervised vision-based 3d occupancy prediction
Yuanhui Huang, Wenzhao Zheng, Borui Zhang, Jie Zhou, and Jiwen Lu · 2024
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Gaussianformer: Scene as gaussians for vision-based 3d semantic occupancy prediction
Yuanhui Huang, Wenzhao Zheng, Yunpeng Zhang, Jie Zhou, and Jiwen Lu · 2024
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Cotr: Compact occupancy transformer for vision-based 3d occupancy prediction
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Planning-oriented autonomous driving
Yihan Hu, Jiazhi Yang, Li Chen, Keyu Li, Chonghao Sima, Xizhou Zhu, Siqi Chai, Senyao Du, Tianwei Lin, Wenhai Wang, et al · 2023
Cited alongside, same era.
Tri-perspective view for vision-based 3d semantic occupancy prediction
Yuanhui Huang, Wenzhao Zheng, Yunpeng Zhang, Jie Zhou, and Jiwen Lu · 2023
Cited alongside, same era.
Voxformer: Sparse voxel transformer for camera-based 3d semantic scene completion
Yiming Li, Zhiding Yu, Christopher Choy, Chaowei Xiao, Jose M Alvarez, Sanja Fidler, Chen Feng, and Anima Anandkumar · 2023
Cited alongside, same era.
Fb-occ: 3d occupancy prediction based on forward-backward view transformation
Zhiqi Li, Zhiding Yu, David Austin, Mingsheng Fang, Shiyi Lan, Jan Kautz, and Jose M Alvarez · 2023
Cited alongside, same era.
Octreeocc: Efficient and multi-granularity occupancy prediction using octree queries
Yuhang Lu, Xinge Zhu, Tai Wang, and Yuexin Ma · 2023
Cited alongside, same era.
Occ3d: A large-scale 3d occupancy prediction benchmark for autonomous driving
Xiaoyu Tian, Tao Jiang, Longfei Yun, Yue Wang, Yilun Wang, and Hang Zhao · 2023
Cited alongside, same era.
Scene as occupancy
Wenwen Tong, Chonghao Sima, Tai Wang, Li Chen, Silei Wu, Hanming Deng, Yi Gu, Lewei Lu, Ping Luo, Dahua Lin, et al · 2023
Cited alongside, same era.
Qihang Ma, Xin Tan, Yanyun Qu, Lizhuang Ma, Zhizhong Zhang, and Yuan Xie · 2024
Later among the works it cites.
Driveworld: 4d pre-trained scene understanding via world models for autonomous driving
Chen Min, Dawei Zhao, Liang Xiao, Jian Zhao, Xinli Xu, Zheng Zhu, Lei Jin, Jianshu Li, Yulan Guo, Junliang Xing, et al · 2024
Later among the works it cites.
Yiang Shi, Tianheng Cheng, Qian Zhang, Wenyu Liu, and Xinggang Wang · 2024
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Sparseocc: Rethinking sparse latent representation for vision-based semantic occupancy prediction
Pin Tang, Zhongdao Wang, Guoqing Wang, Jilai Zheng, Xiangxuan Ren, Bailan Feng, and Chao Ma · 2024
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Opus: occupancy prediction using a sparse set
Jiabao Wang, Zhaojiang Liu, Qiang Meng, Liujiang Yan, Ke Wang, Jie Yang, Wei Liu, Qibin Hou, and Ming-Ming Cheng · 2024
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Occsora: 4d occupancy generation models as world simulators for autonomous driving
Lening Wang, Wenzhao Zheng, Yilong Ren, Han Jiang, Zhiyong Cui, Haiyang Yu, and Jiwen Lu · 2024
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Renderworld: World model with self-supervised 3d label
Ziyang Yan, Wenzhen Dong, Yihua Shao, Yuhang Lu, Liu Haiyang, Jingwen Liu, Haozhe Wang, Zhe Wang, Yan Wang, Fabio Remondino, et al · 2024
Later among the works it cites.
Occworld: Learning a 3d occupancy world model for autonomous driving
Wenzhao Zheng, Weiliang Chen, Yuanhui Huang, Borui Zhang, Yueqi Duan, and Jiwen Lu · 2024
Later among the works it cites.
Gaussianad: Gaussian-centric end-to-end autonomous driving
Wenzhao Zheng, Junjie Wu, Yao Zheng, Sicheng Zuo, Zixun Xie, Longchao Yang, Yong Pan, Zhihui Hao, Peng Jia, Xianpeng Lang, et al · 2024
Later among the works it cites.
Gaussianworld: Gaussian world model for streaming 3d occupancy prediction
Sicheng Zuo, Wenzhao Zheng, Yuanhui Huang, Jie Zhou, and Jiwen Lu · 2024
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Superdec: 3d scene decomposition with superquadric primitives
Elisabetta Fedele, Boyang Sun, Leonidas Guibas, Marc Pollefeys, and Francis Engelmann · 2025
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