超全的占用栅格与Occupancy Networks汇总（2016-2023）

作者 | 汽车人  编辑 | 自动驾驶与AI

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占用栅格在移动机器人和自动驾驶感知中的研究越来越多，今天汽车人也为大家汇总下相关工作，涉及单目OCC和多目OCC！

2023

BEVDet-Occ 

链接：https://github.com/HuangJunJie2017/BEVDet Occ-BEV: Multi-Camera Unified Pre-training via 3D Scene Reconstruction

BEV-IO: Enhancing Bird's-Eye-View 3D Detection with Instance Occupancy

Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Driving

OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Prediction

StereoScene: BEV-Assisted Stereo Matching Empowers 3D Semantic Scene Completion

SurroundOcc: Multi-Camera 3D Occupancy Prediction for Autonomous Driving

OpenOccupancy: A Large Scale Benchmark for Surrounding Semantic Occupancy Perception

VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completion

[CVPR 2023] Tri-Perspective View for Vision-Based 3D Semantic Occupancy Prediction

[CVPR 2023] Point Cloud Forecasting as a Proxy for 4D Occupancy Forecasting

OccDepth: A Depth-Aware Method for 3D Semantic Scene Completion

Diffusion Probabilistic Models for Scene-Scale 3D Categorical Data

[ICRA 2023] StereoVoxelNet: Real-Time Obstacle Detection Based on Occupancy Voxels from a Stereo Camera Using Deep Neural Networks

2022

[CVPR 2022] MonoScene: Monocular 3D Semantic Scene Completion

[ECCV 2022] Differentiable Raycasting for Self-supervised Occupancy Forecasting

LOPR: Latent Occupancy PRediction using Generative Models

[IROS 2022] Dynamics-Aware Spatiotemporal Occupancy Prediction in Urban Environments

STrajNet: Multi-modal Hierarchical Transformer for Occupancy Flow Field Prediction in Autonomous Driving

HOPE: Hierarchical Spatial-temporal Network for Occupancy Flow Prediction

Dynamic Semantic Occupancy Mapping using 3D Scene Flow and Closed-Form Bayesian Inference

[IEEE Robotics and Automation Letters] Occupancy Flow Fields for Motion Forecasting in Autonomous Driving

2021

[AAAI 2021] Sparse Single Sweep LiDAR Point Cloud Segmentation via Learning Contextual Shape Priors from Scene Completion

2020

[ CVPR 2020] 3D Sketch-aware Semantic Scene Completion via Semi-supervised Structure Prior

[CVPR 2020] Anisotropic Convolutional Networks for 3D Semantic Scene Completion

[3DV 2020] LMSCNet: Lightweight Multiscale 3D Semantic Completion

2016

Semantic Scene Completion from a Single Depth Image

Survey

2023

Grid-Centric Traffic Scenario Perception for Autonomous Driving: A Comprehensive Review

Open source projects

OpenOcc 链接：https://github.com/wzzheng/OpenOcc

The-Eyes-Have-It 链接：https://github.com/cheukcat/The-Eyes-Have-It

Challenge

Autonomous Challenge Driving Track 3 3D Occupancy Prediction

链接：https://opendrivelab.com/AD23Challenge.html

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