Towards Flexible 3D Perception: Object-Centric Occupancy Completion Augments 3D Object Detection

While 3D object bounding box (bbox) representation has been widely used in autonomous driving perception, it lacks the ability to capture the precise details of an object's intrinsic geometry. Recently, occupancy has emerged as a promising alternative for 3D scene perception. However, constructing a high-resolution occupancy map remains infeasible for large scenes due to computational constraints. Recognizing that foreground objects only occupy a small portion of the scene, we introduce object-centric occupancy as a supplement to object bboxes. This representation not only provides intricate details for detected objects but also enables higher voxel resolution in practical applications.