notesum.ai

Published at November 25

Three Cars Approaching within 100m! Enhancing Distant Geometry by Tri-Axis Voxel Scanning for Camera-based Semantic Scene Completion

cs.CV

Released Date: November 25, 2024

Authors: Jongseong Bae¹, Junwoo Ha¹, Ha Young Kim²

Aff.: ¹Department of Artificial Intelligence, Yonsei University; ²Graduate School of Information, Yonsei University

Arxiv: http://arxiv.org/abs/2411.16129v1

Refer to caption

				1 road 1 (15.30%)	1 sidewalk 1 (11.13%)	1 parking 1 (1.12%)	1 other-grnd. 1 (0.56%)	1 building 1 (14.1%)	1 car 1 (3.92%)	1 truck 1 (0.16%)	1 bicycle 1 (0.03%)	1 motorcycle 1 (0.03%)	1 other-veh. 1 (0.20%)	1 vegetation 1 (39.3%)	1 trunk 1 (0.51%)	1 terrain 1 (9.17%)	1 person 1 (0.07%)	1 bicyclist 1 (0.07%)	1 motorcyclist 1 (0.05%)	1 fence 1 (3.90%)	1 pole 1 (0.29%)	1 traf.-sign 1 (0.08%)
Method	Input	IoU	mIoU
MonoScene [4]	M	34.16	11.08	54.70	27.10	24.80	5.70	14.40	18.80	3.30	0.50	0.70	4.40	14.90	2.40	19.50	1.00	1.40	0.40	11.10	3.30	2.10
TPVFormer [10]	M	34.25	11.26	55.10	27.20	27.40	6.50	14.80	19.20	3.70	1.00	0.50	2.30	13.90	2.60	20.40	1.10	2.40	0.30	11.00	2.90	1.50
SurroundOcc [31]	M	34.72	11.86	56.90	28.30	30.20	6.80	15.20	20.60	1.40	1.60	1.20	4.40	14.90	3.40	19.30	1.40	2.00	0.10	11.30	3.90	2.40
OccFormer [39]	M	34.53	12.32	55.90	30.30	31.50	6.50	15.70	21.60	1.20	1.50	1.70	3.20	16.80	3.90	21.30	2.20	1.10	0.20	11.90	3.80	3.70
IAMSSC [33]	M	43.74	12.37	54.00	25.50	24.70	6.90	19.20	21.30	3.80	1.10	0.60	3.90	22.70	5.80	19.40	1.50	2.90	0.50	11.90	5.30	4.10
VoxFormer-T [14]	S-T	43.21	13.41	54.10	26.90	25.10	7.30	23.50	21.70	3.60	1.90	1.60	4.10	24.40	8.10	24.20	1.60	1.10	0.00	13.10	6.60	5.70
HASSC-T [27]	S-T	42.87	14.38	55.30	29.60	25.90	11.30	23.10	23.00	2.90	1.90	1.50	4.90	24.80	9.80	26.50	1.40	3.00	0.00	14.30	7.00	7.10
H2GFormer-T [28]	S-T	43.52	14.60	57.90	30.40	30.00	6.90	24.00	23.70	5.20	0.60	1.20	5.00	25.20	10.70	25.80	1.10	0.10	0.00	14.60	7.50	9.30
Symphonies [11]	S	42.19	15.04	58.40	29.30	26.90	11.70	24.70	23.60	3.20	3.60	2.60	5.60	24.20	10.00	23.10	3.20	1.90	2.00	16.10	7.70	8.00
StereoScene [13]	S	43.34	15.36	61.90	31.20	30.70	10.70	24.20	22.80	2.80	3.40	2.40	6.10	23.80	8.40	27.00	2.90	2.20	0.50	16.50	7.00	7.20
MonoOcc-L [41]	S	-	15.63	59.10	30.90	27.10	9.80	22.90	23.90	7.20	4.50	2.40	7.70	25.00	9.80	26.10	2.80	4.70	0.60	16.90	7.30	8.40
CGFormer [38]	S	44.41	16.63	64.30	34.20	34.10	12.10	25.80	26.10	4.30	3.70	1.30	2.70	24.50	11.20	29.30	1.70	3.60	0.40	18.70	8.70	9.30
HTCL-S [12]	S-T	44.23	17.09	64.40	34.80	33.80	12.40	25.90	27.30	10.80	1.80	2.20	5.40	25.30	10.80	31.20	1.10	3.10	0.90	21.10	9.00	8.30
ScanSSC (ours)	S	44.54	17.40	66.20	35.90	35.10	12.50	25.30	27.10	3.50	3.50	3.20	6.10	25.20	11.00	30.60	1.80	5.30	0.70	20.50	8.40	8.90