Semantic Scene Completion (SSC) aims to perform geometric completion and semantic segmentation simultaneously. Despite the promising results achieved by existing studies, the inherently ill-posed nature of the task presents significant challenges in diverse driving scenarios. This paper introduces TALoS, a novel test-time adaptation approach for SSC that excavates the information available in driving environments. Specifically, we focus on that observations made at a certain moment can serve as Ground Truth (GT) for scene completion at another moment. Given the characteristics of the LiDAR sensor, an observation of an object at a certain location confirms both 1) the occupation of that location and 2) the absence of obstacles along the line of sight from the LiDAR to that point. TALoS utilizes these observations to obtain self-supervision about occupancy and emptiness, guiding the model to adapt to the scene in test time. In a similar manner, we aggregate reliable SSC predictions among multiple moments and leverage them as semantic pseudo-GT for adaptation. Further, to leverage future observations that are not accessible at the current time, we present a dual optimization scheme using the model in which the update is delayed until the future observation is available. Evaluations on the SemanticKITTI validation and test sets demonstrate that TALoS significantly improves the performance of the pre-trained SSC model.

Semantic scene completion predicts volumetric occupancy and object category of a 3D scene, which helps intelligent agents to understand and interact with the surroundings. In this work, we propose a disentangled framework, sequentially carrying out 2D semantic segmentation, 2D-3D reprojection and 3D semantic scene completion. This three-stage framework has three advantages: (1) explicit semantic segmentation significantly boosts performance; (2) flexible fusion ways of sensor data bring good extensibility; (3) progress in any subtask will promote the holistic performance. Experimental results show that regardless of inputing a single depth or RGB-D, our framework can generate high-quality semantic scene completion, and outperforms state-of-the-art approaches on both synthetic and real datasets.

Neural Information Processing Systems http://nips.cc/

Semantic scene completion predicts volumetric occupancy and object category of a 3D scene, which helps intelligent agents to understand and interact with the surroundings. In this work, we propose a disentangled framework, sequentially carrying out 2D semantic segmentation, 2D-3D reprojection and 3D semantic scene completion. This three-stage framework has three advantages: (1) explicit semantic segmentation significantly boosts performance; (2) flexible fusion ways of sensor data bring good extensibility; (3) progress in any subtask will promote the holistic performance. Experimental results show that regardless of inputing a single depth or RGB-D, our framework can generate high-quality semantic scene completion, and outperforms state-of-the-art approaches on both synthetic and real datasets.

Understanding 3D scenes based on LiDAR point clouds is essential for tasks like autonomous driving.

Humans can understand unfamiliar circumstances quickly.

Robust 3D semantic occupancy is crucial for legged/humanoid robots, yet most semantic scene completion (SSC) systems target wheeled platforms with forward-facing sensors. We present OneOcc, a vision-only panoramic SSC framework designed for gait-introduced body jitter and 360° continuity. OneOcc combines: (i) Dual-Projection fusion (DP-ER) to exploit the annular panorama and its equirectangular unfolding, preserving 360° continuity and grid alignment; (ii) Bi-Grid Voxelization (BGV) to reason in Cartesian and cylindrical-polar spaces, reducing discretization bias and sharpening free/occupied boundaries; (iii) a lightweight decoder with Hierarchical AMoE-3D for dynamic multi-scale fusion and better long-range/occlusion reasoning; and (iv) plug-and-play Gait Displacement Compensation (GDC) learning feature-level motion correction without extra sensors. We also release two panoramic occupancy benchmarks: QuadOcc (real quadruped, first-person 360°) and Human360Occ (H3O) (CARLA human-ego 360° with RGB, Depth, semantic occupancy; standardized within-/cross-city splits). OneOcc sets new state-of-the-art (SOTA): on QuadOcc it beats strong vision baselines and popular LiDAR ones; on H3O it gains +3.83 mIoU (within-city) and +8.08 (cross-city). Modules are lightweight, enabling deployable full-surround perception for legged/humanoid robots. Datasets and code will be publicly available at https://github.com/MasterHow/OneOcc.

Autonomous driving perception faces significant challenges due to occlusions and incomplete scene data in the environment. To overcome these issues, the task of semantic occupancy prediction (SOP) is proposed, which aims to jointly infer both the geometry and semantic labels of a scene from images. However, conventional camera-based methods typically treat all categories equally and primarily rely on local features, leading to suboptimal predictions, especially for dynamic foreground objects. To address this, we propose Object-Centric SOP (OC-SOP), a framework that integrates high-level object-centric cues extracted via a detection branch into the semantic occupancy prediction pipeline. This object-centric integration significantly enhances the prediction accuracy for foreground objects and achieves state-of-the-art performance among all categories on SemanticKITTI.