arXiv Computer Vision
Sep 24

RoadOcc Learns When to Persist, Transport, or Refresh Memory for Roadside Occupancy Prediction

RoadOcc is a new method for roadside occupancy prediction that learns to route information among three memory sources: Persist (fixed-coordinate history), Transport (velocity-addressed history), and Refresh (current evidence). It employs dynamic-aware cross‑attention, multi‑scale voxel velocity estimation, and velocity‑guided dynamic sparse fusion to combine these sources efficiently. On the InfraOcc dataset, RoadOcc achieves 65.29 mIoU and 32.37 dynamic mIoU, outperforming the previous STCOcc baseline by significant margins.

By Xiaokai Bai, Lei Yang, Songkai Wang, Lianqing Zheng, Si-Yuan Cao, Hui-liang Shen