FastOcc: Accelerating 3D Occupancy Prediction by Fusing the 2D Bird's-Eye View and Perspective View

arXiv:2403.02710v1 Announce Type: new
Abstract: In autonomous driving, 3D occupancy prediction outputs voxel-wise status and semantic labels for more comprehensive understandings of 3D scenes compared with traditional perception tasks, such as 3D object detection and bird's-eye view (BEV) semantic segmentation. Recent researchers have extensively explored various aspects of this task, including view transformation techniques, ground-truth label generation, and elaborate network design, aiming to achieve superior performance. However, the inference speed, crucial for running on an autonomous vehicle, is neglected. To …

3d object 3d object detection 3d scenes abstract arxiv autonomous autonomous driving bird cs.cv cs.ro detection driving labels object perception perspective prediction researchers segmentation semantic tasks type view voxel wise