arXiv Computer Vision
LegoOcc++: Towards Consistent Open-Vocabulary 3D Occupancy Prediction
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OVM-Occ: Open-Vocabulary Monocular Occupancy Prediction via Geometry-Aware Vision-Language Distillation
arXiv:2610.35312v1 Announce Type: new Abstract: Monocular occupancy prediction in indoor scenes aims to recover a scene's 3D geometry and semantics from a single RGB image. Existing methods are restr...
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GCSR-OCC: Geometry Calibration and Semantic Routing for Open-Vocabulary Occupancy Prediction
arXiv:2610.37149v1 Announce Type: cross Abstract: Open-vocabulary 3D occupancy prediction represents scene geometry and semantics in a unified voxel grid, enabling recognition beyond predefined categ...
arXiv Computer Vision
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VEOcc: Voxel-Centric Online Semantic Occupancy Prediction For Embodied Scene Understanding
arXiv:2605.25059v4 Announce Type: replace Abstract: Crucial for autonomous exploration, online 3D occupancy prediction and mapping incrementally construct dense spatial representations on the fly. Em...
arXiv Computer Vision
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CoGaussian: Open-Vocabulary Gaussian-based Collaborative 3D Scene Understanding
arXiv:2610.28530v1 Announce Type: new Abstract: Collaborative perception enables agents to retrieve the scene semantics and geometry beyond the field of view of any individual agent. This broader sce...
arXiv Computer Vision
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Out-of-Distribution Semantic Occupancy Prediction
The paper introduces Out-of-Distribution Semantic Occupancy Prediction, a task that focuses on detecting unknown objects in 3D voxel space for autonomous driving. It proposes Realistic Anomaly Augmentation to create two new datasets, VAA-KITTI and VAA-KITTI-360, and presents the OccOoD framework, which uses Cross‑Space Semantic Refinement to improve OoD detection while maintaining semantic occupancy accuracy. Experiments show OccOoD achieves an AuROC of 65.50% and an AuPRCr of 31.83% within a 1.2 m radius, demonstrating strong generalization to real‑world urban scenes.
arXiv Computer Vision
Oct 1
AdaOcc: Adaptive 3D Occupancy Prediction for Embodied Tasks
arXiv:2609.38864v1 Announce Type: new Abstract: Embodied tasks demand accurate, flexible, and semantically rich 3D scene representations. 3D semantic occupancy is well suited to this requirement, as...