Zhangchen Ye1*, Tao Jiang1,2*, Chenfeng Xu3, Yiming Li4, and Hang Zhao1,2,5✉
1IIIS, Tsinghua University 2Shanghai AI Lab 3UC Berkeley 4New York University 5Shanghai Qi Zhi Institute
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[2024/07/29]: Code Released.
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[2024/07/04]: Our paper has been accepted by ECCV2024.
Vision-based 3D occupancy prediction is significantly challenged by the inherent limitations of monocular vision in depth estimation. This paper introduces CVT-Occ, a novel approach that leverages temporal fusion through the geometric correspondence of voxels over time to improve the accuracy of 3D occupancy predictions. By sampling points along the line of sight of each voxel and integrating the features of these points from historical frames, we construct a cost volume feature map that refines current volume features for improved prediction outcomes. Our method takes advantage of parallax cues from historical observations and employs a data-driven approach to learn the cost volume. We validate the effectiveness of CVT-Occ through rigorous experiments on the Occ3D-Waymo dataset, where it outperforms state-of-the-art methods in 3D occupancy prediction with minimal additional computational cost.
All models can be download from HERE
| Method | mIoU | Go | Vehicle | Pedestrian | Sign | Bicyclist | Traffic Light | Pole | Cons. Cone | Bicycle | Building | Vegetation | Tree Trunk | Road | Walkable |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| BEVFormer-w/o TSA | 23.87 | 7.50 | 34.54 | 21.07 | 9.69 | 20.96 | 11.48 | 11.48 | 14.06 | 14.51 | 23.14 | 21.82 | 8.57 | 78.45 | 56.89 |
| BEVFormer | 24.58 | 7.18 | 36.06 | 21.00 | 9.76 | 20.23 | 12.61 | 14.52 | 14.70 | 16.06 | 23.98 | 22.50 | 9.39 | 79.11 | 57.04 |
| SOLOFusion | 24.73 | 4.97 | 32.45 | 18.28 | 10.33 | 17.14 | 8.07 | 17.83 | 16.23 | 19.30 | 31.49 | 28.98 | 16.93 | 70.95 | 53.28 |
| BEVFormer-WrapConcat | 25.07 | 6.20 | 36.17 | 20.95 | 9.56 | 20.58 | 12.82 | 16.24 | 14.31 | 16.78 | 25.14 | 23.56 | 12.81 | 79.04 | 56.83 |
| CVT-Occ (ours) | 27.37 | 7.44 | 41.00 | 23.93 | 11.92 | 20.81 | 12.07 | 18.03 | 16.88 | 21.37 | 29.40 | 27.42 | 14.67 | 79.12 | 59.09 |
| Method | mIoU | others | barrier | bicycle | bus | car | Cons. vehicle | motorcycle | pedestrian | traffic cone | trailer | truck | Dri. Sur | other flat | sidewalk | terrain | manmade | vegetation |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| BEVFormer-w/o TSA | 38.05 | 9.11 | 45.68 | 22.61 | 46.19 | 52.97 | 20.27 | 26.5 | 26.8 | 26.21 | 32.29 | 37.58 | 80.5 | 40.6 | 49.93 | 52.48 | 41.59 | 35.51 |
| BEVFormer | 39.04 | 9.57 | 47.13 | 22.52 | 47.61 | 54.14 | 20.39 | 26.44 | 28.12 | 27.46 | 34.53 | 39.69 | 81.44 | 41.14 | 50.79 | 54.00 | 43.08 | 35.60 |
| CVT-Occ (ours) | 40.34 | 9.45 | 49.46 | 23.57 | 49.18 | 55.63 | 23.1 | 27.85 | 28.88 | 29.07 | 34.97 | 40.98 | 81.44 | 40.92 | 51.37 | 54.25 | 45.94 | 39.71 |