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lvchuandong/Awesome-Multi-Camera-3D-Occupancy-Prediction

Awesome papers and code about Multi-Camera 3D Occupancy Prediction, such as TPVFormer, SurroundOcc, PanoOcc, OccFormer, FB-OCC, SelfOcc, COTR, SparseOcc, GaussianFormer, GaussianOcc, STCOcc, OccMamba. In this repository, you will see the latest 3D occupancy prediction papers and code.

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updated Mar 4, 2026

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Awesome-Multi-Camera-3D-Occupancy-Prediction

CVPR

2025

  • [2025.06] VoxelSplat: Dynamic Gaussian Splatting as an Effective Loss for Occupancy and Flow Prediction [paper] [github]
  • [2025.04] GDFusion: Rethinking Temporal Fusion with a Unified Gradient Descent View for 3D Semantic Occupancy Prediction [paper] [github]
  • [2025.04] STCOcc: Sparse Spatial-Temporal Cascade Renovation for 3D Occupancy and Scene Flow Prediction [paper] [github]
  • [2025.03] 3D Occupancy Prediction with Low-Resolution Queries via Prototype-aware View Transformation [paper] [github]
  • [2024.12] GaussTR: Foundation Model-Aligned Gaussian Transformer for Self-Supervised 3D Spatial Understanding [paper] [github]
  • [2024.08] OccMamba: Semantic Occupancy Prediction with State Space Models [paper] [github]

2024

  • [2024.05] DriveWorld: 4D Pre-trained Scene Understanding via World Models for Autonomous Driving [paper]
  • [2024.04] SparseOcc: Rethinking Sparse Latent Representation for Vision-Based Semantic Occupancy Prediction [paper] [github]
  • [2024.04] StreamingFlow: Streaming Occupancy Forecasting with Asynchronous Multi-modal Data Streams via Neural Ordinary Differential Equation [github]
  • [2024.04] Unsupervised Occupancy Learning from Sparse Point Cloud [paper]
  • [2024.03] SemCity: Semantic Scene Generation with Triplane Diffusion [paper] [github]
  • [2024.02] Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehicles [paper] [github]
  • [2023.12] Cam4DOcc: Benchmark for Camera-Only 4D Occupancy Forecasting in Autonomous Driving Applications [paper] [github]
  • [2023.12] PaSCo: Urban 3D Panoptic Scene Completion with Uncertainty Awareness [paper] [github]
  • [2023.12] COTR: Compact Occupancy TRansformer for Vision-based 3D Occupancy Prediction [paper] [github]
  • [2023.11] SelfOcc: Self-Supervised Vision-Based 3D Occupancy Prediction [paper] [github]
  • [2023.06] PanoOcc: Unified Occupancy Representation for Camera-based 3D Panoptic Segmentation [paper] [github]
  • [2023.06] Symphonize 3D Semantic Scene Completion with Contextual Instance Queries [paper] [github]
  • [2023.05] OccupancyM3D: Learning Occupancy for Monocular 3D Object Detection [paper] [github]
  • [2024] Accurate Training Data for Occupancy Map Prediction in Automated Driving using Evidence Theory
  • [2024] LowRankOcc: Tensor Decomposition and Low-Rank Recovery for Vision-based 3D Semantic Occupancy Prediction
  • [2024] SGC-Occ: Semantic-Geometry Consistent 3D Occupancy Prediction for Autonomous Driving
  • [2024] UnO: Unsupervised Occupancy Fields for Perception and Forecasting [paper] [github]
  • [2024] Diffusion-FOF: Single-view Clothed Human Reconstruction via Diffusion-based Fourier Occupancy Field

2023

  • [2023.02] TPVFormer: Tri-Perspective View for Vision-Based 3D Semantic Occupancy Prediction [paper] [github] [zhihu] [bilibili]
  • [2023.02] VoxFormer: a Cutting-edge Baseline for 3D Semantic Occupancy Prediction [paper] [github] [zhihu]
  • [2023.01] Behind the Scenes: Density Fields for Single View Reconstruction[paper] [github] [zhihu]
  • [2023.02] Point Cloud Forecasting as a Proxy for 4D Occupancy Forecasting [paper] [github]
  • [2022.12] UniAD: Planning-oriented Autonomous Driving [paper] [github]

2022

  • [2021.12] MonoScene: Monocular 3D Semantic Scene Completion [paper] [github] [zhihu]

ICCV

2025

  • [2025.09] Semantic Causality-Aware Vision-Based 3D Occupancy Prediction [paper] [github]
  • [2025.08] Occupancy Learning with Spatiotemporal Memory [paper] [github]

2023

  • [2023.04] OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Prediction [paper] [github]
  • [2023.03] SurroundOcc [paper] [github] [zhihu]

ECCV

2024

  • [2024.09] CVT-Occ: Cost Volume Temporal Fusion for 3D Occupancy Prediction [paper] [github]
  • [2024.09] RenderWorld: World Model with Self-Supervised 3D Label [paper]
  • [2024.07] Hierarchical Temporal Context Learning for Camera-based Semantic Scene Completion [paper] [github]
  • [2024.07] VEON: Vocabulary-Enhanced Occupancy Prediction [paper]
  • [2024.07] Occupancy as Set of Points [paper] [github]
  • [2024.05] GaussianFormer: Scene as Gaussians for Vision-Based 3D Semantic Occupancy Prediction [paper] [github]
  • [2024.05] ViewFormer: Exploring Spatiotemporal Modeling for Multi-View 3D Occupancy Perception via View-Guided Transformers [paper] [github]
  • [2024.04] OccGen: Generative Multi-modal 3D Occupancy Prediction for Autonomous Driving [paper] [github]
  • [2023.12] Fully Sparse 3D Panoptic Occupancy Prediction [paper] [github]
  • [2023.11] OccWorld: Learning a 3D Occupancy World Model for Autonomous Driving [paper] [github]

AAAI

2026

  • [2025.10] SparseWorld: A Flexible, Adaptive, and Efficient 4D Occupancy World Model Powered by Sparse and Dynamic Queries [paper] [github]

2025

  • [2025.03] M3Net: Multimodal Multi-task Learning for 3D Detection, Segmentation, and Occupancy Prediction in Autonomous Driving [paper]
  • [2025.01] Skip Mamba Diffusion for Monocular 3D Semantic Scene Completion [paper] [github]
  • [2024.12] LOMA: Language-assisted Semantic Occupancy Network via Triplane Mamba [paper]
  • [2024.12] ViPOcc: Leveraging Visual Priors from Vision Foundation Models for Single-View 3D Occupancy Prediction
  • [2024.08] Driving in the Occupancy World: Vision-Centric 4D Occupancy Forecasting and Planning via World Models for Autonomous Driving [paper] [github]

2024

  • [2023.12] Semantic Complete Scene Forecasting from a 4D Dynamic Point Cloud Sequence [paper]
  • [2023.12] RadOcc: Learning Cross-Modality Occupancy Knowledge through Rendering Assisted Distillation [paper]
  • [2023.08] SOGDet: Semantic-Occupancy Guided Multi-view 3D Object Detection [paper] [github]

Journal

  • [2026.02] Multi-Resolution Alignment for Voxel Sparsity in Camera-Based 3D Semantic Scene Completion [paper] [github] [IEEE Transactions on Image Processing]
  • [2024.09] OccFusion: Multi-Sensor Fusion Framework for 3D Semantic Occupancy Prediction [paper] [IEEE Transactions on Intelligent Vehicles]
  • [2024.06] HybridOcc: NeRF Enhanced Transformer-Based Multi-Camera 3D Occupancy Prediction [paper] [IEEE Robotics and Automation Letters]
  • [2024.03] Co-Occ: Coupling Explicit Feature Fusion With Volume Rendering Regularization for Multi-Modal 3D Semantic Occupancy Prediction [paper] [IEEE Robotics and Automation Letters]
  • [2024.02] Multi-Camera Unified Pre-Training via 3D Scene Reconstruction [paper] [IEEE Robotics and Automation Letters]
  • [2023.12] 3DOPFormer: 3D Occupancy Perception from Multi-Camera Images with Directional and Distance Enhancement [paper] [github] [IEEE Transactions on Intelligent Vehicles]

ICLR

2025

  • [2025.02] OccProphet: Pushing Efficiency Frontier of Camera-Only 4D Occupancy Forecasting with Observer-Forecaster-Refiner Framework [paper] [github]
  • [2025.02] Semi-Supervised Vision-Centric 3D Occupancy World Model for Autonomous Driving [paper] [github]
    • [2024.10] DynamicCity: Large-Scale LiDAR Generation from Dynamic Scenes [paper] [github]

ICRA

2026

  • [2025.09] ST-GS: Vision-Based 3D Semantic Occupancy Prediction with Spatial-Temporal Gaussian Splatting [paper]

2025

  • [2025.03] OCCUQ: Exploring Efficient Uncertainty Quantification for 3D Occupancy Prediction [paper] [github]
  • [2025.03] TrackOcc: Camera-based 4D Panoptic Occupancy Tracking [paper] [github]
  • [2025.01] SliceOcc: Indoor 3D Semantic Occupancy Prediction with Vertical Slice Representation [paper] [github]
  • [2024.03] Occ-LLM: Enhancing Autonomous Driving with Occupancy-Based Large Language Models [paper]
  • [2024.03] H3O: Hyper-Efficient 3D Occupancy Prediction with Heterogeneous Supervision [paper]

2024

  • [2024.03] FastOcc: Accelerating 3D Occupancy Prediction by Fusing the 2D Bird’s-Eye View and Perspective View [paper]
  • [2024.03] MonoOcc: Digging into Monocular Semantic Occupancy Prediction [paper] [github]
  • [2023.09] RenderOcc: Vision-Centric 3D Occupancy Prediction with 2D Rendering Supervision [paper] [github]

NeurIPS

2023

  • [2024.01] POP-3D: Open-Vocabulary 3D Occupancy Prediction from Images [paper] [github] [website]
  • [2023.12] Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Driving [paper] [github] [website]

Arxiv

  • [2026.02] SPOT-Occ: Sparse Prototype-guided Transformer for Camera-based 3D Occupancy Prediction [paper] [github]
  • [2026.02] ForecastOcc: Vision-based Semantic Occupancy Forecasting [paper]
  • [2026.02] SUG-Occ: An Explicit Semantics and Uncertainty Guided Sparse Learning Framework for Real-Time 3D Occupancy Prediction [paper]
  • [2026.02] TFusionOcc: Student's t-Distribution Based Object-Centric Multi-Sensor Fusion Framework for 3D Occupancy Prediction [paper] [github]
  • [2026.02] Monocular Open Vocabulary Occupancy Prediction for Indoor Scenes [paper] [github]
  • [2026.02] SelfOccFlow: Towards end-to-end self-supervised 3D Occupancy Flow prediction [paper]
  • [2026.02] Parameter-Free Adaptive Multi-Scale Channel-Spatial Attention Aggregation framework for 3D Indoor Semantic Scene Completion Toward Assisting Visually Impaired [paper]
  • [2026.02] Rebenchmarking Unsupervised Monocular 3D Occupancy Prediction [paper]
  • [2026.02] Generalizing Visual Geometry Priors to Sparse Gaussian Occupancy Prediction [paper] [github]
  • [2026.02] Latent Gaussian Splatting for 4D Panoptic Occupancy Tracking [paper] [github]
  • [2026.01] SuperOcc: Toward Cohesive Temporal Modeling for Superquadric-based Occupancy Prediction [paper] [github]
  • [2026.01] Gaussian Based Adaptive Multi-Modal 3D Semantic Occupancy Prediction [paper]
  • [2026.01] GaussianOcc3D: A Gaussian-Based Adaptive Multi-modal 3D Occupancy Prediction [paper]
  • [2025.12] VOIC: Visible-Occluded Decoupling for Monocular 3D Semantic Scene Completion [paper]
  • [2025.12] HyGE-Occ: Hybrid View-Transformation with 3D Gaussian and Edge Priors for 3D Panoptic Occupancy Prediction [paper]
  • [2025.12] GGenieDrive: Towards Physics-Aware Driving World Model with 4D Occupancy Guided Video Generation [paper]
  • [2025.12] OccSTeP: Benchmarking 4D Occupancy Spatio-Temporal Persistence [paper] [github]
  • [2025.12] OccuFly: A 3D Vision Benchmark for Semantic Scene Completion from the Aerial Perspective [paper] [github]
  • [2025.12] OCCDiff: Occupancy Diffusion Model for High-Fidelity 3D Building Reconstruction from Noisy Point Clouds [paper]
  • [2025.12] ShelfOcc: Native 3D Supervision beyond LiDAR for Vision-Based Occupancy Estimation [paper]
  • [2025.11] REOcc: Camera-Radar Fusion with Radar Feature Enrichment for 3D Occupancy Prediction [paper]
  • [2025.11] MobileOcc: A Human-Aware Semantic Occupancy Dataset for Mobile Robots [paper]
  • [2025.11] SparseWorld-TC: Trajectory-Conditioned Sparse Occupancy World Model [paper] [github]
  • [2025.11] QueryOcc: Query-based Self-Supervision for 3D Semantic Occupancy [paper] [github]
  • [2025.11] OneOcc: Semantic Occupancy Prediction for Legged Robots with a Single Panoramic Camera [paper] [github]
  • [2025.10] Progressive Gaussian Transformer with Anisotropy-aware Sampling for Open Vocabulary Occupancy Prediction [paper] [github]
  • [2025.10] SparseWorld: A Flexible, Adaptive, and Efficient 4D Occupancy World Model Powered by Sparse and Dynamic Queries [paper] [github]
  • [2025.09] EasyOcc: 3D Pseudo-Label Supervision for Fully Self-Supervised Semantic Occupancy Prediction Models [paper] [github]
  • [2025.09] 3D and 4D World Modeling: A Survey [paper] [github]
  • [2025.09] Octree Latent Diffusion for Semantic 3D Scene Generation and Completion [paper]
  • [2025.09] OccVLA: Vision-Language-Action Model with Implicit 3D Occupancy Supervision [paper]
  • [2025.09] Semantic Causality-Aware Vision-Based 3D Occupancy Prediction [paper] [github]
  • [2025.09] SliceSemOcc: Vertical Slice Based Multimodal 3D Semantic Occupancy Representation [paper]
  • [2025.09] OccTENS: 3D Occupancy World Model via Temporal Next-Scale Prediction [paper]
  • [2025.08] Vision-Only Gaussian Splatting for Collaborative Semantic Occupancy Prediction [paper]
  • [2025.08] Occupancy Learning with Spatiotemporal Memory [paper] [github]
  • [2025.08] A Coarse-to-Fine Approach to Multi-Modality 3D Occupancy Grounding [paper] [github]
  • [2025.07] Collaborative Perceiver: Elevating Vision-based 3D Object Detection via Local Density-Aware Spatial Occupancy [paper] [github]
  • [2025.07] Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots [paper] [github]
  • [2025.07] DA-Occ: Efficient 3D Voxel Occupancy Prediction via Directional 2D for Geometric Structure Preservation [paper]
  • [2025.07] GTAD: Global Temporal Aggregation Denoising Learning for 3D Semantic Occupancy Prediction [paper]
  • [2025.07] GaussianFusionOcc: A Seamless Sensor Fusion Approach for 3D Occupancy Prediction Using 3D Gaussians [paper]
  • [2025.07] SDGOCC: Semantic and Depth-Guided Bird's-Eye View Transformation for 3D Multimodal Occupancy Prediction [paper] [github]
  • [2025.07] From Binary to Semantic: Utilizing Large-Scale Binary Occupancy Data for 3D Semantic Occupancy Prediction [paper] [github]
  • [2025.07] FMOcc: TPV-Driven Flow Matching for 3D Occupancy Prediction with Selective State Space Model [paper]
  • [2025.06] Out-of-Distribution Semantic Occupancy Prediction [paper] [github]
  • [2025.06] SWA-SOP: Spatially-aware Window Attention for Semantic Occupancy Prediction in Autonomous Driving [paper]
  • [2025.06] OC-SOP: Enhancing Vision-Based 3D Semantic Occupancy Prediction by Object-Centric Awareness [paper]
  • [2025.06] Robust Robotic Exploration and Mapping Using Generative Occupancy Map Synthesis [paper]
  • [2025.06] A Synthetic Benchmark for Collaborative 3D Semantic Occupancy Prediction in V2X Autonomous Driving [paper]
  • [2025.06] YouTube-Occ: Learning Indoor 3D Semantic Occupancy Prediction from YouTube Videos [paper]
  • [2025.06] GraphGSOcc: Semantic-Geometric Graph Transformer with Dynamic-Static Decoupling for 3D Gaussian Splatting-based Occupancy Prediction [paper]
  • [2025.06] QuadricFormer: Scene as Superquadrics for 3D Semantic Occupancy Prediction [paper] [github]
  • [2025.06] ODG: Occupancy Prediction Using Dual Gaussians [paper]
  • [2025.06] BePo: Leveraging Birds Eye View and Sparse Points for Efficient and Accurate 3D Occupancy Prediction [paper]
  • [2025.06] S2GO: Streaming Sparse Gaussian Occupancy Prediction [paper]
  • [2025.06] VoxDet: Rethinking 3D Semantic Occupancy Prediction as Dense Object Detection [paper] [github]
  • [2025.06] SHTOcc: Effective 3D Occupancy Prediction with Sparse Head and Tail Voxels [paper] [github]
  • [2025.05] DSOcc: Leveraging Depth Awareness and Semantic Aid to Boost Camera-Based 3D Semantic Occupancy Prediction [paper]
  • [2025.05] See through the Dark: Learning Illumination-affined Representations for Nighttime Occupancy Prediction [paper] [github]
  • [2025.05] OccLE: Label-Efficient 3D Semantic Occupancy Prediction [paper]
  • [2025.05] Diffusion-Based Generative Models for 3D Occupancy Prediction in Autonomous Driving [paper]
  • [2025.05] TACOcc:Target-Adaptive Cross-Modal Fusion with Volume Rendering for 3D Semantic Occupancy [paper]
  • [2025.05] GaussianFormer3D: Multi-Modal Gaussian-based Semantic Occupancy Prediction with 3D Deformable Attention [paper] [github]
  • [2025.05] Camera-Only 3D Panoptic Scene Completion for Autonomous Driving through Differentiable Object Shapes [paper] [github]
  • [2025.05] 4D-ROLLS: 4D Radar Occupancy Learning via LiDAR Supervision [paper] [github]
  • [2025.05] Occupancy World Model for Robots [paper]
  • [2025.05] OccCylindrical: Multi-Modal Fusion with Cylindrical Representation for 3D Semantic Occupancy Prediction [paper] [github]
  • [2025.05] DualDiff: Dual-branch Diffusion Model for Autonomous Driving with Semantic Fusion [paper]
  • [2025.04] RoboOcc: Enhancing the Geometric and Semantic Scene Understanding for Robots [paper]
  • [2025.04] MS-Occ: Multi-Stage LiDAR-Camera Fusion for 3D Semantic Occupancy Prediction [paper]
  • [2025.04] LMPOcc: 3D Semantic Occupancy Prediction Utilizing Long-Term Memory Prior from Historical Traversals [paper]
  • [2025.04] Inverse++: Vision-Centric 3D Semantic Occupancy Prediction Assisted with 3D Object Detection [paper] [github]
  • [2025.03] UniOcc: A Unified Benchmark for Occupancy Forecasting and Prediction in Autonomous Driving [paper] [github]
  • [2025.03] SGFormer: Satellite-Ground Fusion for 3D Semantic Scene Completion [paper] [github]
  • [2025.03] SA-Occ: Satellite-Assisted 3D Occupancy Prediction in Real World [paper] [github]
  • [2025.03] L2COcc: Lightweight Camera-Centric Semantic Scene Completion via Distillation of LiDAR Model [paper] [github]
  • [2025.03] TT-GaussOcc: Test-Time Compute for Self-Supervised Occupancy Prediction via Spatio-Temporal Gaussian Splatting [paper]
  • [2025.03] Learning A Zero-shot Occupancy Network from Vision Foundation Models via Self-supervised Adaptation [paper]
  • [2025.03] Temporal Triplane Transformers as Occupancy World Models [paper]
  • [2025.03] TrackOcc: Camera-based 4D Panoptic Occupancy Tracking [paper] [github]
  • [2025.03] TGP: Two-modal occupancy prediction with 3D Gaussian and sparse points for 3D Environment Awareness [paper]
  • [2025.03] Doracamom: Joint 3D Detection and Occupancy Prediction with Multi-view 4D Radars and Cameras for Omnidirectional Perception [paper]
  • [2025.03] Toward-Robust-Camera-based-3D-Occupancy-Prediction-via-Normalization-Perturbation [github]
  • [2025.02] GaussRender: Learning 3D Occupancy with Gaussian Rendering [paper] [github]
  • [2025.02] GaussianFlowOcc: Sparse and Weakly Supervised Occupancy Estimation using Gaussian Splatting and Temporal Flow [paper] [github]
  • [2025.02] OccLinker: Deflickering Occupancy Networks through Lightweight Spatio-Temporal Correlation [paper]
  • [2025.02] Occupancy-SLAM: An Efficient and Robust Algorithm for Simultaneously Optimizing Robot Poses and Occupancy Map [paper]
  • [2025.02] AutoOcc: Automatic Open-Ended Semantic Occupancy Annotation via Vision-Language Guided Gaussian Splatting [paper]
  • [2025.02] OG-Gaussian: Occupancy Based Street Gaussians for Autonomous Driving [paper]
  • [2025.02] Multi-Scale Neighborhood Occupancy Masked Autoencoder for Self-Supervised Learning in LiDAR Point Clouds [paper]
  • [2025.01] MetaOcc: Surround-View 4D Radar and Camera Fusion Framework for 3D Occupancy Prediction with Dual Training Strategies [paper] [github]
  • [2024.12] MR-Occ: Efficient Camera-LiDAR 3D Semantic Occupancy Prediction Using Hierarchical Multi-Resolution Voxel Representation [paper]
  • [2024.12] GSRender: Deduplicated Occupancy Prediction via Weakly Supervised 3D Gaussian Splatting [paper]
  • [2024.12] An Efficient Occupancy World Model via Decoupled Dynamic Flow and Image-assisted Training [paper]
  • [2024.12] GaussTR: Foundation Model-Aligned Gaussian Transformer for Self-Supervised 3D Spatial Understanding [paper] [github]
  • [2024.12] GaussianWorld: Gaussian World Model for Streaming 3D Occupancy Prediction [paper] [github]
  • [2024.12] ViPOcc: Leveraging Visual Priors from Vision Foundation Models for Single-View 3D Occupancy Prediction [paper] [github]
  • [2024.12] OccScene: Semantic Occupancy-based Cross-task Mutual Learning for 3D Scene Generation [paper]
  • [2024.12] GaussianAD: Gaussian-Centric End-to-End Autonomous Driving [paper] [github]
  • [2024.12] ProtoOcc: Accurate, Efficient 3D Occupancy Prediction Using Dual Branch Encoder-Prototype Query Decoder [paper] [github]
  • [2024.12] LOMA: Language-assisted Semantic Occupancy Network via Triplane Mamba [paper]
  • [2024.12] Hierarchical Context Alignment with Disentangled Geometric and Temporal Modeling for Semantic Occupancy Prediction [paper]
  • [2024.12] Semantic Scene Completion Based 3D Traversability Estimation for Off-Road Terrains [paper]
  • [2024.12] PVP: Polar Representation Boost for 3D Semantic Occupancy Prediction [paper]
  • [2024.12] Fast Occupancy Network [paper]
  • [2024.12] Lightweight Spatial Embedding for Vision-based 3D Occupancy Prediction [paper]
  • [2024.12] Towards Flexible 3D Perception: Object-Centric Occupancy Completion Augments 3D Object Detection [paper]
  • [2024.12] GaussianFormer-2: Probabilistic Gaussian Superposition for Efficient 3D Occupancy Prediction [paper] [github]
  • [2024.12] EmbodiedOcc: Embodied 3D Occupancy Prediction for Vision-based Online Scene Understanding [paper] [github]
  • [2024.11] VisionPAD: A Vision-Centric Pre-training Paradigm for Autonomous Driving [paper]
  • [2024.11] Language Driven Occupancy Prediction [paper] [github]
  • [2024.11] Spatiotemporal Decoupling for Efficient Vision-Based Occupancy Forecasting [paper]
  • [2024.11] LeC2O-NeRF: Learning Continuous and Compact Large-Scale Occupancy for Urban Scenes [paper]
  • [2024.11] Open-Vocabulary Octree-Graph for 3D Scene Understanding [paper]
  • [2024.11] GaussianPretrain: A Simple Unified 3D Gaussian Representation for Visual Pre-training in Autonomous Driving [paper] [github]
  • [2024.11] Robust 3D Semantic Occupancy Prediction with Calibration-free Spatial Transformation [paper] [github]
  • [2024.11] ALOcc: Adaptive Lifting-based 3D Semantic Occupancy and Cost Volume-based Flow Prediction [paper] [github]
  • [2024.11] OccLoff: Learning Optimized Feature Fusion for 3D Occupancy Prediction [paper]
  • [2024.10] TEOcc: Radar-camera Multi-modal Occupancy Prediction via Temporal Enhancement [paper] [github]
  • [2024.10] DOME: Taming Diffusion Model into High-Fidelity Controllable Occupancy World Model [paper] [github]
  • [2024.10] DynamicCity: Large-Scale LiDAR Generation from Dynamic Scenes [paper] [github]
  • [2024.10] ET-Former: Efficient Triplane Deformable Attention for 3D Semantic Scene Completion From Monocular Camera [paper]
  • [2024.10] SyntheOcc: Synthesize Geometric-Controlled Street View Images through 3D Semantic MPIs [paper]
  • [2024.10] WildOcc: A Benchmark for Off-Road 3D Semantic Occupancy Prediction [paper] [github]
  • [2024.09] OPUS: Occupancy Prediction Using a Sparse Set [paper] [github]
  • [2024.09] OccRWKV: Rethinking Efficient 3D Semantic Occupancy Prediction with Linear Complexity [paper] [github]
  • [2024.09] FSF-Net: Enhance 4D Occupancy Forecasting with Coarse BEV Scene Flow for Autonomous Driving [paper]
  • [2024.09] ReliOcc: Towards Reliable Semantic Occupancy Prediction via Uncertainty Learning [paper]
  • [2024.09] DAOcc: 3D Object Detection Assisted Multi-Sensor Fusion for 3D Occupancy Prediction [paper] [github]
  • [2024.09] Deep Height Decoupling for Precise Vision-based 3D Occupancy Prediction [paper] [github]
  • [2024.09] UltimateDO: An Efficient Framework to Marry Occupancy Prediction with 3D Object Detection via Channel2height [paper]
  • [2024.09] Online Diffusion-Based 3D Occupancy Prediction at the Frontier with Probabilistic Map Reconciliation [paper]
  • [2024.09] OccLLaMA: An Occupancy-Language-Action Generative World Model for Autonomous Driving [paper]
  • [2024.08] Driving in the Occupancy World: Vision-Centric 4D Occupancy Forecasting and Planning via World Models for Autonomous Driving [paper] [github]
  • [2024.08] AdaOcc: Adaptive-Resolution Occupancy Prediction [paper]
  • [2024.08] Diffusion-Occ: 3D Point Cloud Completion via Occupancy Diffusion [paper]
  • [2024.08] GaussianOcc: Fully Self-supervised and Efficient 3D Occupancy Estimation with Gaussian Splatting [paper] [github]
  • [2024.08] MambaOcc: Visual State Space Model for BEV-based Occupancy Prediction with Local Adaptive Reordering [paper] [github]
  • [2024.08] Semi-supervised 3D Semantic Scene Completion with 2D Vision Foundation Model Guidance [paper]
  • [2024.08] HybridOcc: NeRF Enhanced Transformer-based Multi-Camera 3D Occupancy Prediction [paper]
  • [2024.08] OccMamba: Semantic Occupancy Prediction with State Space Models [paper] [github]
  • [2024.07] LangOcc: Self-Supervised Open Vocabulary Occupancy Estimation via Volume Rendering [paper]
  • [2024.07] LiCROcc: Teach Radar for Accurate Semantic Occupancy Prediction using LiDAR and Camera [paper] [github]
  • [2024.07] Let Occ Flow: Self-Supervised 3D Occupancy Flow Prediction [paper] [github] [github]
  • [2024.07] Real-Time 3D Occupancy Prediction via Geometric-Semantic Disentanglement [paper]
  • [2024.07] Hierarchical Temporal Context Learning for Camera-based Semantic Scene Completion [paper] [github]
  • [2024.07] VEON: Vocabulary-Enhanced Occupancy Prediction [paper]
  • [2024.07] Occupancy as Set of Points [paper] [github]
  • [2024.06] EFFOcc: A Minimal Baseline for EFficient Fusion-based 3D Occupancy Network [paper]
  • [2024.05] GaussianFormer: Scene as Gaussians for Vision-Based 3D Semantic Occupancy Prediction [paper] [github]
  • [2024.05] OccSora: 4D Occupancy Generation Models as World Simulators for Autonomous Driving [paper] [github]
  • [2024.05] BDC-Occ: Binarized Deep Convolution Unit For Binarized Occupancy Network [paper]
  • [2024.05] RadarOcc: Robust 3D Occupancy Prediction with 4D Imaging Radar [paper]
  • [2024.05] Label-efficient Semantic Scene Completion with Scribble Annotations [paper]
  • [2024.05] Improving 3D Occupancy Prediction through Class-balancing Loss and Multi-scale Representation [paper]
  • [2024.05] ViewFormer: Exploring Spatiotemporal Modeling for Multi-View 3D Occupancy Perception via View-Guided Transformers [paper] [github]
  • [2024.05] A Survey on Occupancy Perception for Autonomous Driving: The Information Fusion Perspective [paper]
  • [2024.04] OccGen: Generative Multi-modal 3D Occupancy Prediction for Autonomous Driving [paper] [github]
  • [2024.04] OccFeat: Self-supervised Occupancy Feature Prediction for Pretraining BEV Segmentation Networks [paper]
  • [2024.04] SparseOcc: Rethinking Sparse Latent Representation for Vision-Based Semantic Occupancy Prediction [paper] [github]
  • [2024.04] Co-Occ: Coupling Explicit Feature Fusion with Volume Rendering Regularization for Multi-Modal 3D Semantic Occupancy Prediction [paper] [github] [website]
  • [2024.04] Unsupervised Occupancy Learning from Sparse Point Cloud [paper]
  • [2024.03] Urban Scene Diffusion through Semantic Occupancy Map [paper] [website]
  • [2024.03] MonoOcc: Digging into Monocular Semantic Occupancy Prediction [paper] [github]
  • [2024.03] Real-time 3D semantic occupancy prediction for autonomous vehicles using memory-efficient sparse convolution [paper]
  • [2024.03] UniLiDAR: Bridge the domain gap among different LiDARs for continual learning [paper]
  • [2024.03] OccFiner: Offboard Occupancy Refinement with Hybrid Propagation [paper]
  • [2024.03] Unleashing HyDRa: Hybrid Fusion, Depth Consistency and Radar for Unified 3D Perception [paper] [github]
  • [2024.03] OccFusion: Depth Estimation Free Multi-sensor Fusion for 3D Occupancy Prediction [paper]
  • [2024.03] FastOcc: Accelerating 3D Occupancy Prediction by Fusing the 2D Bird’s-Eye View and Perspective View [paper]
  • [2024.03] OccFusion: A Straightforward and Effective Multi-Sensor Fusion Framework for 3D Occupancy Prediction [paper] [github]
  • [2024.02] OccTransformer: Improving BEVFormer for 3D camera-only occupancy prediction [paper]
  • [2024.02] OccFlowNet: Towards Self-supervised Occupancy Estimation via Differentiable Rendering and Occupancy Flow [paper] [github]
  • [2024.02] SDGE: Stereo Guided Depth Estimation for 360∘ Camera Sets [paper]
  • [2024.01] S2TPVFormer: Spatio-Temporal Tri-Perspective View for temporally coherent 3D Semantic Occupancy Prediction [paper]
  • [2024.01] InverseMatrixVT3D: An Efficient Projection Matrix-Based Approach for 3D Occupancy Prediction [paper] [github]
  • [2024.01] UniVision: A Unified Framework for Vision-Centric 3D Perception [paper] [github]
  • [2023.12] Fully Sparse 3D Panoptic Occupancy Prediction [paper] [github]
  • [2023.12] Regulating Intermediate 3D Features for Vision-Centric Autonomous Driving [paper] [github]
  • [2023.12] RadOcc: Learning Cross-Modality Occupancy Knowledge through Rendering Assisted Distillation [paper]
  • [2023.12] OccNeRF: Self-Supervised Multi-Camera Occupancy Prediction with Neural Radiance Fields [paper] [github]
  • [2023.12] Camera-based 3D Semantic Scene Completion with Sparse Guidance Network [paper] [github]
  • [2023.12] OctreeOcc: Efficient and Multi-Granularity Occupancy Prediction Using Octree Queries [paper] [github]
  • [2023.11] DepthSSC: Depth-Spatial Alignment and Dynamic Voxel Resolution for Monocular 3D Semantic Scene Completion [paper]
  • [2023.11] OccWorld: Learning a 3D Occupancy World Model for Autonomous Driving [paper] [github]
  • [2023.11] Technical Report for Argoverse Challenges on 4D Occupancy Forecasting [paper]
  • [2023.10] LiDAR-based 4D Occupancy Completion and Forecasting [paper] [github]
  • [2023.11] SelfOcc: Self-Supervised Vision-Based 3D Occupancy Prediction [paper] [github]
  • [2023.11] SOccDPT: Semi-Supervised 3D Semantic Occupancy from Dense Prediction Transformers trained under memory constraints [paper]
  • [2023.11] FlashOcc: Fast and Memory-Efficient Occupancy Prediction via Channel-to-Height Plugin [paper] [github]
  • [2023.10] Predicting Future Spatiotemporal Occupancy Grids with Semantics for Autonomous Driving [paper]
  • [2023.09] OccupancyDETR: Making Semantic Scene Completion as Straightforward as Object Detection[paper]
  • [2023.09] OCC-VO: Dense Mapping via 3D Occupancy-Based Visual Odometry for Autonomous Driving [paper]
  • [2023.09] SPOT: Scalable 3D Pre-training via Occupancy Prediction for Autonomous Driving[paper]
  • [2023.09] RenderOcc: Vision-Centric 3D Occupancy Prediction with 2D Rendering Supervision [paper] [github]
  • [2023.08] PointOcc: Cylindrical Tri-Perspective View for Point-based 3D Semantic Occupancy Prediction [paper] [github]
  • [2023.07] OCTraN: 3D Occupancy Convolutional Transformer Network in Unstructured Traffic Scenarios [paper]
  • [2023.07] FB-OCC: 3D Occupancy Prediction based on Forward-Backward View Transformation [paper] [github]
  • [2023.06] PanoOcc: Unified Occupancy Representation for Camera-based 3D Panoptic Segmentation [paper] [github]
  • [2023.06] Symphonize 3D Semantic Scene Completion with Contextual Instance Queries [paper] [github]
  • [2023.06] UniOcc: Unifying Vision-Centric 3D Occupancy Prediction with Geometric and Semantic Rendering [paper]
  • [2023.05] OVO: Open-Vocabulary Occupancy [paper] [github]
  • [2023.05] Learning Occupancy for Monocular 3D Object Detection [paper] [github]
  • [2023.05] UniScene: Multi-Camera Unified Pre-training via 3D Scene Reconstruction [paper] [github]
  • [2023.04] OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Prediction [paper] [github]
  • [2023.03] SurroundOcc: Multi-Camera 3D Occupancy Prediction for Autonomous Driving [paper] [github]
  • [2023.03] OpenOccupancy: A Large Scale Benchmark for Surrounding Semantic Occupancy Perception [paper] [github]
  • [2023.03] BEVDet for occupancy: [github]
  • [2023.03] SimpleOccupancy: A Simple Attempt for 3D Occupancy Estimation in Autonomous Driving [paper] [github]
  • [2023.02] OccDepth: A Depth-aware Method for 3D Semantic Occupancy Network [paper] [github]
  • [2023.02] TPVFormer: Tri-Perspective View for Vision-Based 3D Semantic Occupancy Prediction [paper] [github] [zhihu] [bilibili]

Occupancy Datasets

  • [2023.06] SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Driving [paper] [github]
  • [2023.06] Scene as Occupancy [paper] [github]
  • [2023.04] Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Driving [paper] [github]
  • [2023.03] OpenOccupancy: A Large Scale Benchmark for Surrounding Semantic Occupancy Perception [paper] [github]
  • [2023.03] SurroundOcc [paper] [github]
  • Occupancy Dataset for nuScenes [github]
  • [2023.12] ML3DOP: A Multi-Camera and LiDAR Dataset for 3D Occupancy Perception[paper] [github]

Survey

  • [2024.05] A Survey on Occupancy Perception for Autonomous Driving: The Information Fusion Perspective [paper] [github]
  • [2024.05] Vision-based 3D occupancy prediction in autonomous driving: a review and outlook [paper]
  • [2023.03] Grid-Centric Traffic Scenario Perception for Autonomous Driving: A Comprehensive Review [paper]

Pre-training

  • [2023.05] Occ-BEV: Multi-Camera Unified Pre-training via 3D Scene Reconstruction [paper] [github]
  • [2022.06] Occupancy-MAE: Self-supervised Pre-training Large-scale LiDAR Point Clouds with Masked Occupancy Autoencoders [paper] [github]

3D Occupancy Prediction Challenge

  • CVPR 2023 3D Occupancy Prediction Challenge: The world's First 3D Occupancy Benchmark for Scene Perception in Autonomous Driving [github] [website]
  • CVPR 2024 Autonomous Grand Challenge Occupancy and Flow [github] [website]

Tesla's Occupancy Networks

Blog

Code for Occupancy Generation

  • multi-frame fusion [github]
  • Poisson reconstruction [github]
3d-occupancy-prediction
3d-perception
autonomous-driving
deep-learning
occupancy-perception

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251

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updated Mar 4, 2026

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Awesome-Multi-Camera-3D-Occupancy-Prediction

CVPR

2025

  • [2025.06] VoxelSplat: Dynamic Gaussian Splatting as an Effective Loss for Occupancy and Flow Prediction [paper] [github]
  • [2025.04] GDFusion: Rethinking Temporal Fusion with a Unified Gradient Descent View for 3D Semantic Occupancy Prediction [paper] [github]
  • [2025.04] STCOcc: Sparse Spatial-Temporal Cascade Renovation for 3D Occupancy and Scene Flow Prediction [paper] [github]
  • [2025.03] 3D Occupancy Prediction with Low-Resolution Queries via Prototype-aware View Transformation [paper] [github]
  • [2024.12] GaussTR: Foundation Model-Aligned Gaussian Transformer for Self-Supervised 3D Spatial Understanding [paper] [github]
  • [2024.08] OccMamba: Semantic Occupancy Prediction with State Space Models [paper] [github]

2024

  • [2024.05] DriveWorld: 4D Pre-trained Scene Understanding via World Models for Autonomous Driving [paper]
  • [2024.04] SparseOcc: Rethinking Sparse Latent Representation for Vision-Based Semantic Occupancy Prediction [paper] [github]
  • [2024.04] StreamingFlow: Streaming Occupancy Forecasting with Asynchronous Multi-modal Data Streams via Neural Ordinary Differential Equation [github]
  • [2024.04] Unsupervised Occupancy Learning from Sparse Point Cloud [paper]
  • [2024.03] SemCity: Semantic Scene Generation with Triplane Diffusion [paper] [github]
  • [2024.02] Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehicles [paper] [github]
  • [2023.12] Cam4DOcc: Benchmark for Camera-Only 4D Occupancy Forecasting in Autonomous Driving Applications [paper] [github]
  • [2023.12] PaSCo: Urban 3D Panoptic Scene Completion with Uncertainty Awareness [paper] [github]
  • [2023.12] COTR: Compact Occupancy TRansformer for Vision-based 3D Occupancy Prediction [paper] [github]
  • [2023.11] SelfOcc: Self-Supervised Vision-Based 3D Occupancy Prediction [paper] [github]
  • [2023.06] PanoOcc: Unified Occupancy Representation for Camera-based 3D Panoptic Segmentation [paper] [github]
  • [2023.06] Symphonize 3D Semantic Scene Completion with Contextual Instance Queries [paper] [github]
  • [2023.05] OccupancyM3D: Learning Occupancy for Monocular 3D Object Detection [paper] [github]
  • [2024] Accurate Training Data for Occupancy Map Prediction in Automated Driving using Evidence Theory
  • [2024] LowRankOcc: Tensor Decomposition and Low-Rank Recovery for Vision-based 3D Semantic Occupancy Prediction
  • [2024] SGC-Occ: Semantic-Geometry Consistent 3D Occupancy Prediction for Autonomous Driving
  • [2024] UnO: Unsupervised Occupancy Fields for Perception and Forecasting [paper] [github]
  • [2024] Diffusion-FOF: Single-view Clothed Human Reconstruction via Diffusion-based Fourier Occupancy Field

2023

  • [2023.02] TPVFormer: Tri-Perspective View for Vision-Based 3D Semantic Occupancy Prediction [paper] [github] [zhihu] [bilibili]
  • [2023.02] VoxFormer: a Cutting-edge Baseline for 3D Semantic Occupancy Prediction [paper] [github] [zhihu]
  • [2023.01] Behind the Scenes: Density Fields for Single View Reconstruction[paper] [github] [zhihu]
  • [2023.02] Point Cloud Forecasting as a Proxy for 4D Occupancy Forecasting [paper] [github]
  • [2022.12] UniAD: Planning-oriented Autonomous Driving [paper] [github]

2022

  • [2021.12] MonoScene: Monocular 3D Semantic Scene Completion [paper] [github] [zhihu]

ICCV

2025

  • [2025.09] Semantic Causality-Aware Vision-Based 3D Occupancy Prediction [paper] [github]
  • [2025.08] Occupancy Learning with Spatiotemporal Memory [paper] [github]

2023

  • [2023.04] OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Prediction [paper] [github]
  • [2023.03] SurroundOcc [paper] [github] [zhihu]

ECCV

2024

  • [2024.09] CVT-Occ: Cost Volume Temporal Fusion for 3D Occupancy Prediction [paper] [github]
  • [2024.09] RenderWorld: World Model with Self-Supervised 3D Label [paper]
  • [2024.07] Hierarchical Temporal Context Learning for Camera-based Semantic Scene Completion [paper] [github]
  • [2024.07] VEON: Vocabulary-Enhanced Occupancy Prediction [paper]
  • [2024.07] Occupancy as Set of Points [paper] [github]
  • [2024.05] GaussianFormer: Scene as Gaussians for Vision-Based 3D Semantic Occupancy Prediction [paper] [github]
  • [2024.05] ViewFormer: Exploring Spatiotemporal Modeling for Multi-View 3D Occupancy Perception via View-Guided Transformers [paper] [github]
  • [2024.04] OccGen: Generative Multi-modal 3D Occupancy Prediction for Autonomous Driving [paper] [github]
  • [2023.12] Fully Sparse 3D Panoptic Occupancy Prediction [paper] [github]
  • [2023.11] OccWorld: Learning a 3D Occupancy World Model for Autonomous Driving [paper] [github]

AAAI

2026

  • [2025.10] SparseWorld: A Flexible, Adaptive, and Efficient 4D Occupancy World Model Powered by Sparse and Dynamic Queries [paper] [github]

2025

  • [2025.03] M3Net: Multimodal Multi-task Learning for 3D Detection, Segmentation, and Occupancy Prediction in Autonomous Driving [paper]
  • [2025.01] Skip Mamba Diffusion for Monocular 3D Semantic Scene Completion [paper] [github]
  • [2024.12] LOMA: Language-assisted Semantic Occupancy Network via Triplane Mamba [paper]
  • [2024.12] ViPOcc: Leveraging Visual Priors from Vision Foundation Models for Single-View 3D Occupancy Prediction
  • [2024.08] Driving in the Occupancy World: Vision-Centric 4D Occupancy Forecasting and Planning via World Models for Autonomous Driving [paper] [github]

2024

  • [2023.12] Semantic Complete Scene Forecasting from a 4D Dynamic Point Cloud Sequence [paper]
  • [2023.12] RadOcc: Learning Cross-Modality Occupancy Knowledge through Rendering Assisted Distillation [paper]
  • [2023.08] SOGDet: Semantic-Occupancy Guided Multi-view 3D Object Detection [paper] [github]

Journal

  • [2026.02] Multi-Resolution Alignment for Voxel Sparsity in Camera-Based 3D Semantic Scene Completion [paper] [github] [IEEE Transactions on Image Processing]
  • [2024.09] OccFusion: Multi-Sensor Fusion Framework for 3D Semantic Occupancy Prediction [paper] [IEEE Transactions on Intelligent Vehicles]
  • [2024.06] HybridOcc: NeRF Enhanced Transformer-Based Multi-Camera 3D Occupancy Prediction [paper] [IEEE Robotics and Automation Letters]
  • [2024.03] Co-Occ: Coupling Explicit Feature Fusion With Volume Rendering Regularization for Multi-Modal 3D Semantic Occupancy Prediction [paper] [IEEE Robotics and Automation Letters]
  • [2024.02] Multi-Camera Unified Pre-Training via 3D Scene Reconstruction [paper] [IEEE Robotics and Automation Letters]
  • [2023.12] 3DOPFormer: 3D Occupancy Perception from Multi-Camera Images with Directional and Distance Enhancement [paper] [github] [IEEE Transactions on Intelligent Vehicles]

ICLR

2025

  • [2025.02] OccProphet: Pushing Efficiency Frontier of Camera-Only 4D Occupancy Forecasting with Observer-Forecaster-Refiner Framework [paper] [github]
  • [2025.02] Semi-Supervised Vision-Centric 3D Occupancy World Model for Autonomous Driving [paper] [github]
    • [2024.10] DynamicCity: Large-Scale LiDAR Generation from Dynamic Scenes [paper] [github]

ICRA

2026

  • [2025.09] ST-GS: Vision-Based 3D Semantic Occupancy Prediction with Spatial-Temporal Gaussian Splatting [paper]

2025

  • [2025.03] OCCUQ: Exploring Efficient Uncertainty Quantification for 3D Occupancy Prediction [paper] [github]
  • [2025.03] TrackOcc: Camera-based 4D Panoptic Occupancy Tracking [paper] [github]
  • [2025.01] SliceOcc: Indoor 3D Semantic Occupancy Prediction with Vertical Slice Representation [paper] [github]
  • [2024.03] Occ-LLM: Enhancing Autonomous Driving with Occupancy-Based Large Language Models [paper]
  • [2024.03] H3O: Hyper-Efficient 3D Occupancy Prediction with Heterogeneous Supervision [paper]

2024

  • [2024.03] FastOcc: Accelerating 3D Occupancy Prediction by Fusing the 2D Bird’s-Eye View and Perspective View [paper]
  • [2024.03] MonoOcc: Digging into Monocular Semantic Occupancy Prediction [paper] [github]
  • [2023.09] RenderOcc: Vision-Centric 3D Occupancy Prediction with 2D Rendering Supervision [paper] [github]

NeurIPS

2023

  • [2024.01] POP-3D: Open-Vocabulary 3D Occupancy Prediction from Images [paper] [github] [website]
  • [2023.12] Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Driving [paper] [github] [website]

Arxiv

  • [2026.02] SPOT-Occ: Sparse Prototype-guided Transformer for Camera-based 3D Occupancy Prediction [paper] [github]
  • [2026.02] ForecastOcc: Vision-based Semantic Occupancy Forecasting [paper]
  • [2026.02] SUG-Occ: An Explicit Semantics and Uncertainty Guided Sparse Learning Framework for Real-Time 3D Occupancy Prediction [paper]
  • [2026.02] TFusionOcc: Student's t-Distribution Based Object-Centric Multi-Sensor Fusion Framework for 3D Occupancy Prediction [paper] [github]
  • [2026.02] Monocular Open Vocabulary Occupancy Prediction for Indoor Scenes [paper] [github]
  • [2026.02] SelfOccFlow: Towards end-to-end self-supervised 3D Occupancy Flow prediction [paper]
  • [2026.02] Parameter-Free Adaptive Multi-Scale Channel-Spatial Attention Aggregation framework for 3D Indoor Semantic Scene Completion Toward Assisting Visually Impaired [paper]
  • [2026.02] Rebenchmarking Unsupervised Monocular 3D Occupancy Prediction [paper]
  • [2026.02] Generalizing Visual Geometry Priors to Sparse Gaussian Occupancy Prediction [paper] [github]
  • [2026.02] Latent Gaussian Splatting for 4D Panoptic Occupancy Tracking [paper] [github]
  • [2026.01] SuperOcc: Toward Cohesive Temporal Modeling for Superquadric-based Occupancy Prediction [paper] [github]
  • [2026.01] Gaussian Based Adaptive Multi-Modal 3D Semantic Occupancy Prediction [paper]
  • [2026.01] GaussianOcc3D: A Gaussian-Based Adaptive Multi-modal 3D Occupancy Prediction [paper]
  • [2025.12] VOIC: Visible-Occluded Decoupling for Monocular 3D Semantic Scene Completion [paper]
  • [2025.12] HyGE-Occ: Hybrid View-Transformation with 3D Gaussian and Edge Priors for 3D Panoptic Occupancy Prediction [paper]
  • [2025.12] GGenieDrive: Towards Physics-Aware Driving World Model with 4D Occupancy Guided Video Generation [paper]
  • [2025.12] OccSTeP: Benchmarking 4D Occupancy Spatio-Temporal Persistence [paper] [github]
  • [2025.12] OccuFly: A 3D Vision Benchmark for Semantic Scene Completion from the Aerial Perspective [paper] [github]
  • [2025.12] OCCDiff: Occupancy Diffusion Model for High-Fidelity 3D Building Reconstruction from Noisy Point Clouds [paper]
  • [2025.12] ShelfOcc: Native 3D Supervision beyond LiDAR for Vision-Based Occupancy Estimation [paper]
  • [2025.11] REOcc: Camera-Radar Fusion with Radar Feature Enrichment for 3D Occupancy Prediction [paper]
  • [2025.11] MobileOcc: A Human-Aware Semantic Occupancy Dataset for Mobile Robots [paper]
  • [2025.11] SparseWorld-TC: Trajectory-Conditioned Sparse Occupancy World Model [paper] [github]
  • [2025.11] QueryOcc: Query-based Self-Supervision for 3D Semantic Occupancy [paper] [github]
  • [2025.11] OneOcc: Semantic Occupancy Prediction for Legged Robots with a Single Panoramic Camera [paper] [github]
  • [2025.10] Progressive Gaussian Transformer with Anisotropy-aware Sampling for Open Vocabulary Occupancy Prediction [paper] [github]
  • [2025.10] SparseWorld: A Flexible, Adaptive, and Efficient 4D Occupancy World Model Powered by Sparse and Dynamic Queries [paper] [github]
  • [2025.09] EasyOcc: 3D Pseudo-Label Supervision for Fully Self-Supervised Semantic Occupancy Prediction Models [paper] [github]
  • [2025.09] 3D and 4D World Modeling: A Survey [paper] [github]
  • [2025.09] Octree Latent Diffusion for Semantic 3D Scene Generation and Completion [paper]
  • [2025.09] OccVLA: Vision-Language-Action Model with Implicit 3D Occupancy Supervision [paper]
  • [2025.09] Semantic Causality-Aware Vision-Based 3D Occupancy Prediction [paper] [github]
  • [2025.09] SliceSemOcc: Vertical Slice Based Multimodal 3D Semantic Occupancy Representation [paper]
  • [2025.09] OccTENS: 3D Occupancy World Model via Temporal Next-Scale Prediction [paper]
  • [2025.08] Vision-Only Gaussian Splatting for Collaborative Semantic Occupancy Prediction [paper]
  • [2025.08] Occupancy Learning with Spatiotemporal Memory [paper] [github]
  • [2025.08] A Coarse-to-Fine Approach to Multi-Modality 3D Occupancy Grounding [paper] [github]
  • [2025.07] Collaborative Perceiver: Elevating Vision-based 3D Object Detection via Local Density-Aware Spatial Occupancy [paper] [github]
  • [2025.07] Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots [paper] [github]
  • [2025.07] DA-Occ: Efficient 3D Voxel Occupancy Prediction via Directional 2D for Geometric Structure Preservation [paper]
  • [2025.07] GTAD: Global Temporal Aggregation Denoising Learning for 3D Semantic Occupancy Prediction [paper]
  • [2025.07] GaussianFusionOcc: A Seamless Sensor Fusion Approach for 3D Occupancy Prediction Using 3D Gaussians [paper]
  • [2025.07] SDGOCC: Semantic and Depth-Guided Bird's-Eye View Transformation for 3D Multimodal Occupancy Prediction [paper] [github]
  • [2025.07] From Binary to Semantic: Utilizing Large-Scale Binary Occupancy Data for 3D Semantic Occupancy Prediction [paper] [github]
  • [2025.07] FMOcc: TPV-Driven Flow Matching for 3D Occupancy Prediction with Selective State Space Model [paper]
  • [2025.06] Out-of-Distribution Semantic Occupancy Prediction [paper] [github]
  • [2025.06] SWA-SOP: Spatially-aware Window Attention for Semantic Occupancy Prediction in Autonomous Driving [paper]
  • [2025.06] OC-SOP: Enhancing Vision-Based 3D Semantic Occupancy Prediction by Object-Centric Awareness [paper]
  • [2025.06] Robust Robotic Exploration and Mapping Using Generative Occupancy Map Synthesis [paper]
  • [2025.06] A Synthetic Benchmark for Collaborative 3D Semantic Occupancy Prediction in V2X Autonomous Driving [paper]
  • [2025.06] YouTube-Occ: Learning Indoor 3D Semantic Occupancy Prediction from YouTube Videos [paper]
  • [2025.06] GraphGSOcc: Semantic-Geometric Graph Transformer with Dynamic-Static Decoupling for 3D Gaussian Splatting-based Occupancy Prediction [paper]
  • [2025.06] QuadricFormer: Scene as Superquadrics for 3D Semantic Occupancy Prediction [paper] [github]
  • [2025.06] ODG: Occupancy Prediction Using Dual Gaussians [paper]
  • [2025.06] BePo: Leveraging Birds Eye View and Sparse Points for Efficient and Accurate 3D Occupancy Prediction [paper]
  • [2025.06] S2GO: Streaming Sparse Gaussian Occupancy Prediction [paper]
  • [2025.06] VoxDet: Rethinking 3D Semantic Occupancy Prediction as Dense Object Detection [paper] [github]
  • [2025.06] SHTOcc: Effective 3D Occupancy Prediction with Sparse Head and Tail Voxels [paper] [github]
  • [2025.05] DSOcc: Leveraging Depth Awareness and Semantic Aid to Boost Camera-Based 3D Semantic Occupancy Prediction [paper]
  • [2025.05] See through the Dark: Learning Illumination-affined Representations for Nighttime Occupancy Prediction [paper] [github]
  • [2025.05] OccLE: Label-Efficient 3D Semantic Occupancy Prediction [paper]
  • [2025.05] Diffusion-Based Generative Models for 3D Occupancy Prediction in Autonomous Driving [paper]
  • [2025.05] TACOcc:Target-Adaptive Cross-Modal Fusion with Volume Rendering for 3D Semantic Occupancy [paper]
  • [2025.05] GaussianFormer3D: Multi-Modal Gaussian-based Semantic Occupancy Prediction with 3D Deformable Attention [paper] [github]
  • [2025.05] Camera-Only 3D Panoptic Scene Completion for Autonomous Driving through Differentiable Object Shapes [paper] [github]
  • [2025.05] 4D-ROLLS: 4D Radar Occupancy Learning via LiDAR Supervision [paper] [github]
  • [2025.05] Occupancy World Model for Robots [paper]
  • [2025.05] OccCylindrical: Multi-Modal Fusion with Cylindrical Representation for 3D Semantic Occupancy Prediction [paper] [github]
  • [2025.05] DualDiff: Dual-branch Diffusion Model for Autonomous Driving with Semantic Fusion [paper]
  • [2025.04] RoboOcc: Enhancing the Geometric and Semantic Scene Understanding for Robots [paper]
  • [2025.04] MS-Occ: Multi-Stage LiDAR-Camera Fusion for 3D Semantic Occupancy Prediction [paper]
  • [2025.04] LMPOcc: 3D Semantic Occupancy Prediction Utilizing Long-Term Memory Prior from Historical Traversals [paper]
  • [2025.04] Inverse++: Vision-Centric 3D Semantic Occupancy Prediction Assisted with 3D Object Detection [paper] [github]
  • [2025.03] UniOcc: A Unified Benchmark for Occupancy Forecasting and Prediction in Autonomous Driving [paper] [github]
  • [2025.03] SGFormer: Satellite-Ground Fusion for 3D Semantic Scene Completion [paper] [github]
  • [2025.03] SA-Occ: Satellite-Assisted 3D Occupancy Prediction in Real World [paper] [github]
  • [2025.03] L2COcc: Lightweight Camera-Centric Semantic Scene Completion via Distillation of LiDAR Model [paper] [github]
  • [2025.03] TT-GaussOcc: Test-Time Compute for Self-Supervised Occupancy Prediction via Spatio-Temporal Gaussian Splatting [paper]
  • [2025.03] Learning A Zero-shot Occupancy Network from Vision Foundation Models via Self-supervised Adaptation [paper]
  • [2025.03] Temporal Triplane Transformers as Occupancy World Models [paper]
  • [2025.03] TrackOcc: Camera-based 4D Panoptic Occupancy Tracking [paper] [github]
  • [2025.03] TGP: Two-modal occupancy prediction with 3D Gaussian and sparse points for 3D Environment Awareness [paper]
  • [2025.03] Doracamom: Joint 3D Detection and Occupancy Prediction with Multi-view 4D Radars and Cameras for Omnidirectional Perception [paper]
  • [2025.03] Toward-Robust-Camera-based-3D-Occupancy-Prediction-via-Normalization-Perturbation [github]
  • [2025.02] GaussRender: Learning 3D Occupancy with Gaussian Rendering [paper] [github]
  • [2025.02] GaussianFlowOcc: Sparse and Weakly Supervised Occupancy Estimation using Gaussian Splatting and Temporal Flow [paper] [github]
  • [2025.02] OccLinker: Deflickering Occupancy Networks through Lightweight Spatio-Temporal Correlation [paper]
  • [2025.02] Occupancy-SLAM: An Efficient and Robust Algorithm for Simultaneously Optimizing Robot Poses and Occupancy Map [paper]
  • [2025.02] AutoOcc: Automatic Open-Ended Semantic Occupancy Annotation via Vision-Language Guided Gaussian Splatting [paper]
  • [2025.02] OG-Gaussian: Occupancy Based Street Gaussians for Autonomous Driving [paper]
  • [2025.02] Multi-Scale Neighborhood Occupancy Masked Autoencoder for Self-Supervised Learning in LiDAR Point Clouds [paper]
  • [2025.01] MetaOcc: Surround-View 4D Radar and Camera Fusion Framework for 3D Occupancy Prediction with Dual Training Strategies [paper] [github]
  • [2024.12] MR-Occ: Efficient Camera-LiDAR 3D Semantic Occupancy Prediction Using Hierarchical Multi-Resolution Voxel Representation [paper]
  • [2024.12] GSRender: Deduplicated Occupancy Prediction via Weakly Supervised 3D Gaussian Splatting [paper]
  • [2024.12] An Efficient Occupancy World Model via Decoupled Dynamic Flow and Image-assisted Training [paper]
  • [2024.12] GaussTR: Foundation Model-Aligned Gaussian Transformer for Self-Supervised 3D Spatial Understanding [paper] [github]
  • [2024.12] GaussianWorld: Gaussian World Model for Streaming 3D Occupancy Prediction [paper] [github]
  • [2024.12] ViPOcc: Leveraging Visual Priors from Vision Foundation Models for Single-View 3D Occupancy Prediction [paper] [github]
  • [2024.12] OccScene: Semantic Occupancy-based Cross-task Mutual Learning for 3D Scene Generation [paper]
  • [2024.12] GaussianAD: Gaussian-Centric End-to-End Autonomous Driving [paper] [github]
  • [2024.12] ProtoOcc: Accurate, Efficient 3D Occupancy Prediction Using Dual Branch Encoder-Prototype Query Decoder [paper] [github]
  • [2024.12] LOMA: Language-assisted Semantic Occupancy Network via Triplane Mamba [paper]
  • [2024.12] Hierarchical Context Alignment with Disentangled Geometric and Temporal Modeling for Semantic Occupancy Prediction [paper]
  • [2024.12] Semantic Scene Completion Based 3D Traversability Estimation for Off-Road Terrains [paper]
  • [2024.12] PVP: Polar Representation Boost for 3D Semantic Occupancy Prediction [paper]
  • [2024.12] Fast Occupancy Network [paper]
  • [2024.12] Lightweight Spatial Embedding for Vision-based 3D Occupancy Prediction [paper]
  • [2024.12] Towards Flexible 3D Perception: Object-Centric Occupancy Completion Augments 3D Object Detection [paper]
  • [2024.12] GaussianFormer-2: Probabilistic Gaussian Superposition for Efficient 3D Occupancy Prediction [paper] [github]
  • [2024.12] EmbodiedOcc: Embodied 3D Occupancy Prediction for Vision-based Online Scene Understanding [paper] [github]
  • [2024.11] VisionPAD: A Vision-Centric Pre-training Paradigm for Autonomous Driving [paper]
  • [2024.11] Language Driven Occupancy Prediction [paper] [github]
  • [2024.11] Spatiotemporal Decoupling for Efficient Vision-Based Occupancy Forecasting [paper]
  • [2024.11] LeC2O-NeRF: Learning Continuous and Compact Large-Scale Occupancy for Urban Scenes [paper]
  • [2024.11] Open-Vocabulary Octree-Graph for 3D Scene Understanding [paper]
  • [2024.11] GaussianPretrain: A Simple Unified 3D Gaussian Representation for Visual Pre-training in Autonomous Driving [paper] [github]
  • [2024.11] Robust 3D Semantic Occupancy Prediction with Calibration-free Spatial Transformation [paper] [github]
  • [2024.11] ALOcc: Adaptive Lifting-based 3D Semantic Occupancy and Cost Volume-based Flow Prediction [paper] [github]
  • [2024.11] OccLoff: Learning Optimized Feature Fusion for 3D Occupancy Prediction [paper]
  • [2024.10] TEOcc: Radar-camera Multi-modal Occupancy Prediction via Temporal Enhancement [paper] [github]
  • [2024.10] DOME: Taming Diffusion Model into High-Fidelity Controllable Occupancy World Model [paper] [github]
  • [2024.10] DynamicCity: Large-Scale LiDAR Generation from Dynamic Scenes [paper] [github]
  • [2024.10] ET-Former: Efficient Triplane Deformable Attention for 3D Semantic Scene Completion From Monocular Camera [paper]
  • [2024.10] SyntheOcc: Synthesize Geometric-Controlled Street View Images through 3D Semantic MPIs [paper]
  • [2024.10] WildOcc: A Benchmark for Off-Road 3D Semantic Occupancy Prediction [paper] [github]
  • [2024.09] OPUS: Occupancy Prediction Using a Sparse Set [paper] [github]
  • [2024.09] OccRWKV: Rethinking Efficient 3D Semantic Occupancy Prediction with Linear Complexity [paper] [github]
  • [2024.09] FSF-Net: Enhance 4D Occupancy Forecasting with Coarse BEV Scene Flow for Autonomous Driving [paper]
  • [2024.09] ReliOcc: Towards Reliable Semantic Occupancy Prediction via Uncertainty Learning [paper]
  • [2024.09] DAOcc: 3D Object Detection Assisted Multi-Sensor Fusion for 3D Occupancy Prediction [paper] [github]
  • [2024.09] Deep Height Decoupling for Precise Vision-based 3D Occupancy Prediction [paper] [github]
  • [2024.09] UltimateDO: An Efficient Framework to Marry Occupancy Prediction with 3D Object Detection via Channel2height [paper]
  • [2024.09] Online Diffusion-Based 3D Occupancy Prediction at the Frontier with Probabilistic Map Reconciliation [paper]
  • [2024.09] OccLLaMA: An Occupancy-Language-Action Generative World Model for Autonomous Driving [paper]
  • [2024.08] Driving in the Occupancy World: Vision-Centric 4D Occupancy Forecasting and Planning via World Models for Autonomous Driving [paper] [github]
  • [2024.08] AdaOcc: Adaptive-Resolution Occupancy Prediction [paper]
  • [2024.08] Diffusion-Occ: 3D Point Cloud Completion via Occupancy Diffusion [paper]
  • [2024.08] GaussianOcc: Fully Self-supervised and Efficient 3D Occupancy Estimation with Gaussian Splatting [paper] [github]
  • [2024.08] MambaOcc: Visual State Space Model for BEV-based Occupancy Prediction with Local Adaptive Reordering [paper] [github]
  • [2024.08] Semi-supervised 3D Semantic Scene Completion with 2D Vision Foundation Model Guidance [paper]
  • [2024.08] HybridOcc: NeRF Enhanced Transformer-based Multi-Camera 3D Occupancy Prediction [paper]
  • [2024.08] OccMamba: Semantic Occupancy Prediction with State Space Models [paper] [github]
  • [2024.07] LangOcc: Self-Supervised Open Vocabulary Occupancy Estimation via Volume Rendering [paper]
  • [2024.07] LiCROcc: Teach Radar for Accurate Semantic Occupancy Prediction using LiDAR and Camera [paper] [github]
  • [2024.07] Let Occ Flow: Self-Supervised 3D Occupancy Flow Prediction [paper] [github] [github]
  • [2024.07] Real-Time 3D Occupancy Prediction via Geometric-Semantic Disentanglement [paper]
  • [2024.07] Hierarchical Temporal Context Learning for Camera-based Semantic Scene Completion [paper] [github]
  • [2024.07] VEON: Vocabulary-Enhanced Occupancy Prediction [paper]
  • [2024.07] Occupancy as Set of Points [paper] [github]
  • [2024.06] EFFOcc: A Minimal Baseline for EFficient Fusion-based 3D Occupancy Network [paper]
  • [2024.05] GaussianFormer: Scene as Gaussians for Vision-Based 3D Semantic Occupancy Prediction [paper] [github]
  • [2024.05] OccSora: 4D Occupancy Generation Models as World Simulators for Autonomous Driving [paper] [github]
  • [2024.05] BDC-Occ: Binarized Deep Convolution Unit For Binarized Occupancy Network [paper]
  • [2024.05] RadarOcc: Robust 3D Occupancy Prediction with 4D Imaging Radar [paper]
  • [2024.05] Label-efficient Semantic Scene Completion with Scribble Annotations [paper]
  • [2024.05] Improving 3D Occupancy Prediction through Class-balancing Loss and Multi-scale Representation [paper]
  • [2024.05] ViewFormer: Exploring Spatiotemporal Modeling for Multi-View 3D Occupancy Perception via View-Guided Transformers [paper] [github]
  • [2024.05] A Survey on Occupancy Perception for Autonomous Driving: The Information Fusion Perspective [paper]
  • [2024.04] OccGen: Generative Multi-modal 3D Occupancy Prediction for Autonomous Driving [paper] [github]
  • [2024.04] OccFeat: Self-supervised Occupancy Feature Prediction for Pretraining BEV Segmentation Networks [paper]
  • [2024.04] SparseOcc: Rethinking Sparse Latent Representation for Vision-Based Semantic Occupancy Prediction [paper] [github]
  • [2024.04] Co-Occ: Coupling Explicit Feature Fusion with Volume Rendering Regularization for Multi-Modal 3D Semantic Occupancy Prediction [paper] [github] [website]
  • [2024.04] Unsupervised Occupancy Learning from Sparse Point Cloud [paper]
  • [2024.03] Urban Scene Diffusion through Semantic Occupancy Map [paper] [website]
  • [2024.03] MonoOcc: Digging into Monocular Semantic Occupancy Prediction [paper] [github]
  • [2024.03] Real-time 3D semantic occupancy prediction for autonomous vehicles using memory-efficient sparse convolution [paper]
  • [2024.03] UniLiDAR: Bridge the domain gap among different LiDARs for continual learning [paper]
  • [2024.03] OccFiner: Offboard Occupancy Refinement with Hybrid Propagation [paper]
  • [2024.03] Unleashing HyDRa: Hybrid Fusion, Depth Consistency and Radar for Unified 3D Perception [paper] [github]
  • [2024.03] OccFusion: Depth Estimation Free Multi-sensor Fusion for 3D Occupancy Prediction [paper]
  • [2024.03] FastOcc: Accelerating 3D Occupancy Prediction by Fusing the 2D Bird’s-Eye View and Perspective View [paper]
  • [2024.03] OccFusion: A Straightforward and Effective Multi-Sensor Fusion Framework for 3D Occupancy Prediction [paper] [github]
  • [2024.02] OccTransformer: Improving BEVFormer for 3D camera-only occupancy prediction [paper]
  • [2024.02] OccFlowNet: Towards Self-supervised Occupancy Estimation via Differentiable Rendering and Occupancy Flow [paper] [github]
  • [2024.02] SDGE: Stereo Guided Depth Estimation for 360∘ Camera Sets [paper]
  • [2024.01] S2TPVFormer: Spatio-Temporal Tri-Perspective View for temporally coherent 3D Semantic Occupancy Prediction [paper]
  • [2024.01] InverseMatrixVT3D: An Efficient Projection Matrix-Based Approach for 3D Occupancy Prediction [paper] [github]
  • [2024.01] UniVision: A Unified Framework for Vision-Centric 3D Perception [paper] [github]
  • [2023.12] Fully Sparse 3D Panoptic Occupancy Prediction [paper] [github]
  • [2023.12] Regulating Intermediate 3D Features for Vision-Centric Autonomous Driving [paper] [github]
  • [2023.12] RadOcc: Learning Cross-Modality Occupancy Knowledge through Rendering Assisted Distillation [paper]
  • [2023.12] OccNeRF: Self-Supervised Multi-Camera Occupancy Prediction with Neural Radiance Fields [paper] [github]
  • [2023.12] Camera-based 3D Semantic Scene Completion with Sparse Guidance Network [paper] [github]
  • [2023.12] OctreeOcc: Efficient and Multi-Granularity Occupancy Prediction Using Octree Queries [paper] [github]
  • [2023.11] DepthSSC: Depth-Spatial Alignment and Dynamic Voxel Resolution for Monocular 3D Semantic Scene Completion [paper]
  • [2023.11] OccWorld: Learning a 3D Occupancy World Model for Autonomous Driving [paper] [github]
  • [2023.11] Technical Report for Argoverse Challenges on 4D Occupancy Forecasting [paper]
  • [2023.10] LiDAR-based 4D Occupancy Completion and Forecasting [paper] [github]
  • [2023.11] SelfOcc: Self-Supervised Vision-Based 3D Occupancy Prediction [paper] [github]
  • [2023.11] SOccDPT: Semi-Supervised 3D Semantic Occupancy from Dense Prediction Transformers trained under memory constraints [paper]
  • [2023.11] FlashOcc: Fast and Memory-Efficient Occupancy Prediction via Channel-to-Height Plugin [paper] [github]
  • [2023.10] Predicting Future Spatiotemporal Occupancy Grids with Semantics for Autonomous Driving [paper]
  • [2023.09] OccupancyDETR: Making Semantic Scene Completion as Straightforward as Object Detection[paper]
  • [2023.09] OCC-VO: Dense Mapping via 3D Occupancy-Based Visual Odometry for Autonomous Driving [paper]
  • [2023.09] SPOT: Scalable 3D Pre-training via Occupancy Prediction for Autonomous Driving[paper]
  • [2023.09] RenderOcc: Vision-Centric 3D Occupancy Prediction with 2D Rendering Supervision [paper] [github]
  • [2023.08] PointOcc: Cylindrical Tri-Perspective View for Point-based 3D Semantic Occupancy Prediction [paper] [github]
  • [2023.07] OCTraN: 3D Occupancy Convolutional Transformer Network in Unstructured Traffic Scenarios [paper]
  • [2023.07] FB-OCC: 3D Occupancy Prediction based on Forward-Backward View Transformation [paper] [github]
  • [2023.06] PanoOcc: Unified Occupancy Representation for Camera-based 3D Panoptic Segmentation [paper] [github]
  • [2023.06] Symphonize 3D Semantic Scene Completion with Contextual Instance Queries [paper] [github]
  • [2023.06] UniOcc: Unifying Vision-Centric 3D Occupancy Prediction with Geometric and Semantic Rendering [paper]
  • [2023.05] OVO: Open-Vocabulary Occupancy [paper] [github]
  • [2023.05] Learning Occupancy for Monocular 3D Object Detection [paper] [github]
  • [2023.05] UniScene: Multi-Camera Unified Pre-training via 3D Scene Reconstruction [paper] [github]
  • [2023.04] OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Prediction [paper] [github]
  • [2023.03] SurroundOcc: Multi-Camera 3D Occupancy Prediction for Autonomous Driving [paper] [github]
  • [2023.03] OpenOccupancy: A Large Scale Benchmark for Surrounding Semantic Occupancy Perception [paper] [github]
  • [2023.03] BEVDet for occupancy: [github]
  • [2023.03] SimpleOccupancy: A Simple Attempt for 3D Occupancy Estimation in Autonomous Driving [paper] [github]
  • [2023.02] OccDepth: A Depth-aware Method for 3D Semantic Occupancy Network [paper] [github]
  • [2023.02] TPVFormer: Tri-Perspective View for Vision-Based 3D Semantic Occupancy Prediction [paper] [github] [zhihu] [bilibili]

Occupancy Datasets

  • [2023.06] SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Driving [paper] [github]
  • [2023.06] Scene as Occupancy [paper] [github]
  • [2023.04] Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Driving [paper] [github]
  • [2023.03] OpenOccupancy: A Large Scale Benchmark for Surrounding Semantic Occupancy Perception [paper] [github]
  • [2023.03] SurroundOcc [paper] [github]
  • Occupancy Dataset for nuScenes [github]
  • [2023.12] ML3DOP: A Multi-Camera and LiDAR Dataset for 3D Occupancy Perception[paper] [github]

Survey

  • [2024.05] A Survey on Occupancy Perception for Autonomous Driving: The Information Fusion Perspective [paper] [github]
  • [2024.05] Vision-based 3D occupancy prediction in autonomous driving: a review and outlook [paper]
  • [2023.03] Grid-Centric Traffic Scenario Perception for Autonomous Driving: A Comprehensive Review [paper]

Pre-training

  • [2023.05] Occ-BEV: Multi-Camera Unified Pre-training via 3D Scene Reconstruction [paper] [github]
  • [2022.06] Occupancy-MAE: Self-supervised Pre-training Large-scale LiDAR Point Clouds with Masked Occupancy Autoencoders [paper] [github]

3D Occupancy Prediction Challenge

  • CVPR 2023 3D Occupancy Prediction Challenge: The world's First 3D Occupancy Benchmark for Scene Perception in Autonomous Driving [github] [website]
  • CVPR 2024 Autonomous Grand Challenge Occupancy and Flow [github] [website]

Tesla's Occupancy Networks

Blog

Code for Occupancy Generation

  • multi-frame fusion [github]
  • Poisson reconstruction [github]
3d-occupancy-prediction
3d-perception
autonomous-driving
deep-learning
occupancy-perception

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