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Published at November 21

Spatiotemporal Decoupling for Efficient Vision-Based Occupancy Forecasting

cs.CV

Released Date: November 21, 2024

Authors: Jingyi Xu, Xieyuanli Chen, Junyi Ma, Jiawei Huang, Jintao Xu, Yue Wang, Ling Pei

Arxiv: http://arxiv.org/abs/2411.14169v1

Refer to caption

Approach	nuScenes						Lyft-Level5						nuScenes & nuScenes-Occupancy
	2D			3D			2D			3D			3D
	$\text{IoU}_{\text{c}}$	$\text{IoU}_{\text{f}}$	$\tilde{\text{IoU}}$	$\text{IoU}_{\text{c}}$	$\text{IoU}_{\text{f}}$	$\tilde{\text{IoU}}$	$\text{IoU}_{\text{c}}$	$\text{IoU}_{\text{f}}$	$\tilde{\text{IoU}}$	$\text{IoU}_{\text{c}}$	$\text{IoU}_{\text{f}}$	$\tilde{\text{IoU}}$	$\text{IoU}_{\text{c}}$	$\text{IoU}_{\text{f}}$	$\tilde{\text{IoU}}$	$\text{C-IoU}_{\text{c}}$	$\text{C-IoU}_{\text{f}}$	$\tilde{\text{C-IoU}_{\text{f}}}$
PowerBEV	33.62	30.07	30.77	28.34	25.47	26.05	45.78	43.44	43.91	36.15	34.18	34.58	-	-	-	-	-	-
OpenOccupancy	28.77	25.93	26.50	24.26	22.69	23.15	38.16	35.11	35.79	32.95	29.73	30.40	14.99	13.06	13.47	27.11	24.68	25.17
OccFormer	38.98	31.05	32.76	34.75	28.08	29.56	47.00	32.10	35.02	41.68	28.55	31.00	15.80	11.30	12.18	44.56	35.98	37.67
OCFNet^-	30.34	26.27	27.47	27.32	24.40	24.98	36.02	33.12	33.69	31.04	28.92	29.36	12.66	10.65	11.05	29.64	27.47	27.91
OCFNet	35.50	32.02	32.71	33.24	29.36	29.94	45.74	43.67	44.08	39.71	38.14	38.46	14.73	12.57	13.00	34.83	33.14	33.49
EfficientOCF^-(ours)	31.69	29.00	29.56	30.24	28.17	28.60	36.39	33.24	33.83	33.95	31.12	31.70	15.98	14.05	14.46	35.89	34.20	34.56
EfficientOCF (ours)	39.93	36.15	36.93	35.60	32.73	33.32	47.42	44.96	45.46	44.27	41.90	42.39	21.28	19.02	19.50	47.53	45.57	45.99