Not All Voxels Are Equal: Hardness-Aware Semantic Scene Completion with Self-Distillation

arXiv:2404.11958v1 Announce Type: new
Abstract: Semantic scene completion, also known as semantic occupancy prediction, can provide dense geometric and semantic information for autonomous vehicles, which attracts the increasing attention of both academia and industry. Unfortunately, existing methods usually formulate this task as a voxel-wise classification problem and treat each voxel equally in 3D space during training. As the hard voxels have not been paid enough attention, the performance in some challenging regions is limited. The 3D dense space typically contains …

arxiv cs.cv cs.ro distillation equal semantic type