3D Occupancy Prediction

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Overview

The field predicts which parts of 3D space are occupied, what they contain, and sometimes how they will move, supporting navigation and autonomous driving. Common approaches lift camera features into voxel or bird’s-eye-view grids, fuse LiDAR or radar, or use sparse and continuous representations such as 3D Gaussians; training can rely on dense labels, depth cues, or pseudo-labels from pretrained models. Current work extends single-frame semantic prediction toward temporal forecasting, panoptic tracking, open-vocabulary understanding, and online maps for robots in indoor, outdoor, and specialized settings. A central tension is balancing dense, accurate geometry with efficient inference and reliable generalization, while ensuring that better occupancy scores translate into safer downstream planning.

Latest papers

CardsList

113 papers21 papers in the last four weeks, up 24% on the four weeks before. 0.1% of all new papers.

  1. Gau-Occ: Geometry-Completed Gaussians for Multi-Modal 3D Occupancy Prediction

    Mar 24, 2026Chengxin Lv, Yihui Li, Hongyu Yang +13D Occupancy PredictionCamera-LiDAR Fusion

    State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing, China · School of Computer Science and Engineering, Beihang University, Beijing, China · School of Artificial Intelligence, Beihang University, Beijing, China

  2. GaussianSSC: Triplane-Guided Directional Gaussian Fields for 3D Semantic Completion

    Mar 23, 2026Ruiqi Xian, Jing Liang, He Yin +2Tri-Plane Representations3D Scene Completion

  3. DriveTok: 3D Driving Scene Tokenization for Unified Multi-View Reconstruction and Understanding

    Mar 19, 2026Dong Zhuo, Wenzhao Zheng, Sicheng Zuo +43D Scene Representation3D Scene Understanding

    Tsinghua University · Yinwang Intelligent Technology Co. Ltd.

  4. SGR-OCC: Evolving Monocular Priors for Embodied 3D Occupancy Prediction via Soft-Gating Lifting and Semantic-Adaptive Geometric Refinement

    Mar 14, 2026Yiran Guo, Simone Mentasti, Xiaofeng Jin +23D Occupancy Prediction

    Department of Electronics Information and Bioengineering, Politecnico di Milano

  5. Panoramic Multimodal Semantic Occupancy Prediction for Quadruped Robots

    Mar 13, 2026Guoqiang Zhao, Zhe Yang, Sheng Wu +53D Occupancy PredictionRobotic Perception

    The authors are with the School of Artificial Intelligence and Robotics, Hunan University, Changsha 410012, China · The author is also with the National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha 410082, China.

  6. O3N: Omnidirectional Open-Vocabulary Occupancy Prediction for Embodied Intelligent Robotics

    Mar 12, 2026Mengfei Duan, Hao Shi, Fei Teng +43D Occupancy Prediction3D Scene Understanding

    School of Artificial Intelligence and Robotics and the National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China · Ant Group, Hangzhou, China · State Key Laboratory of Extreme Photonics and Instrumentation, Zhejiang University, Hangzhou, China

  7. M2M^2-Occ: Resilient 3D Semantic Occupancy Prediction for Autonomous Driving with Incomplete Camera Inputs

    Mar 10, 2026Kaixin Lin, Kunyu Peng, Di Wen +3Multi-View LearningAutonomous Driving Perception

    School of Artificial Intelligence and Robotics and the National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, China · Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Germany

  8. STONE Dataset: A Scalable Multi-Modal Surround-View 3D Traversability Dataset for Off-Road Robot Navigation

    Mar 10, 2026Konyul Park, Daehun Kim, Jiyong Oh +7Off-Road Robot NavigationRobot Traversability Estimation

    Interdisciplinary Program in Artificial Intelligence, Seoul National University, Seoul, 08826, Korea. · Department of Electrical and Computer Engineering, Seoul National University, Seoul, 08826, Korea.

  9. OccTrack360: 4D Panoptic Occupancy Tracking from Surround-View Fisheye Cameras

    Mar 9, 2026Yongzhi Lin, Kai Luo, Yuanfan Zheng +4Autonomous Driving PerceptionSemantic Occupancy Mapping

    The authors are with the School of Artificial Intelligence and Robotics and the National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China · The author is with Ant Group, Hangzhou, China. · The author is also with the State Key Laboratory of Extreme Photonics and Instrumentation, Zhejiang University, Hangzhou, China.

  10. 4DRC-OCC: Robust Semantic Occupancy Prediction Through Fusion of 4D Radar and Camera

    Mar 8, 2026David Ninfa, Andras Palffy, Holger Caesar3D Occupancy PredictionAutonomous Driving Perception

    Cognitive Robotics, Delft University of Technology · Perciv AI

  11. Can we Trust Unreliable Voxels? Exploring 3D Semantic Occupancy Prediction under Label Noise

    Mar 6, 2026Wenxin Li, Kunyu Peng, Di Wen +63D Occupancy PredictionLearning with Noisy Labels

    School of Artificial Intelligence and Robotics and the National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, China · Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Germany · INSAIT, Sofia University “St. Kliment Ohridski”, Bulgaria +1

  12. VG3S: Visual Geometry Grounded Gaussian Splatting for Semantic Occupancy Prediction

    Mar 6, 2026Xiaoyang Yan, Muleilan Pei, Shaojie Shen3D Occupancy Prediction3D Gaussian Splatting

    Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong SAR, China

  13. FreeOcc: Training-free Panoptic Occupancy Prediction via Foundation Models

    Mar 6, 2026Andrew Caunes, Thierry Chateau, Vincent Fremont3D Occupancy PredictionAutonomous Driving

    Logiroad, Nantes, France · LS2N - Ecole Centrale de Nantes, France

  14. VLMFusionOcc3D: VLM Assisted Multi-Modal 3D Semantic Occupancy Prediction

    Mar 3, 2026A. Enes Doruk, Hasan F. Ates3D Occupancy PredictionAutonomous Driving Perception

  15. Dr.Occ: Depth- and Region-Guided 3D Occupancy from Surround-View Cameras for Autonomous Driving

    Mar 1, 2026Xubo Zhu, Haoyang Zhang, Fei He +43D Occupancy PredictionAutonomous Driving Perception

    School of Electronic Information, Wuhan University · Horizon Robotics · Wuhan University Shenzhen Research Institute

  16. SelfOccFlow: Towards end-to-end self-supervised 3D Occupancy Flow prediction

    Feb 27, 2026Xavier Timoneda, Markus Herb, Fabian Duerr +13D Occupancy PredictionAutonomous Driving

    Xavier Timoneda, Markus Herb, and Fabian Duerr are with the Onboard Fusion team at CARIAD SE, Volkswagen Group, Ingolstadt, Germany. · Daniel Goehring is with the Dahlem Center for Machine Learning and Robotics group at Freie Universität Berlin, Germany.

  17. Latent Gaussian Splatting for 4D Panoptic Occupancy Tracking

    Feb 26, 2026Maximilian Luz, Rohit Mohan, Thomas Nürnberg +34D Scene Understanding3D Occupancy Prediction

    Department of Computer Science, University of Freiburg, Germany. · Bosch Research, Robert Bosch GmbH, Germany. · Leon H. Charney School of Marine Sciences, University of Haifa, Israel.

  18. Monocular Open Vocabulary Occupancy Prediction for Indoor Scenes

    Feb 26, 2026Changqing Zhou, Yueru Luo, Han Zhang +23D Occupancy PredictionSemantic Occupancy Mapping

    The Hong Kong University of Science and Technology (Guangzhou) · The Chinese University of Hong Kong, Shenzhen

  19. Generalizing Visual Geometry Priors to Sparse Gaussian Occupancy Prediction

    Feb 25, 2026Changqing Zhou, Yueru Luo, Changhao Chen3D Occupancy Prediction

    The Hong Kong University of Science and Technology (Guangzhou) · The Chinese University of Hong Kong, Shenzhen

  20. OccStress: Stress-Testing the 4D Occupancy Forecasting Chain

    Dec 17, 2025Yu Zheng, Jie Hu, Jiaqi Xiong +4Forecasting Benchmarks3D Occupancy Prediction

    Hunan University · ETH Zurich

  21. MobileOcc: A Human-Aware Semantic Occupancy Dataset for Mobile Robots

    Nov 21, 2025Junseo Kim, Guido Dumont, Xinyu Gao +3Mobile RoboticsSemantic Occupancy Mapping

    Delft University of Technology, Mekelweg 5, 2628 CD Delft, Netherlands

  22. Streaming Dense Voxel Representations for 3D Occupancy Prediction

    Mar 28, 2025Seokha Moon, Janghyun Baek, Yujin Jeong +53D Occupancy Prediction3D Representation Learning

    1Korea University · 5NAVER LABS · † Work done during an internship at NAVER LABS. +4

  23. LightOcc: Lightweight Spatial Embedding for Efficient Vision-based 3D Occupancy Prediction

    Dec 8, 2024Jinqing Zhang, Yanan Zhang, Wenrui Cai +2Bird's-Eye-View Representation3D Occupancy Prediction

    State Key Laboratory of Virtual Reality Technology and Systems, Beihang University. · School of Computer Science and Information Engineering, Hefei University of Technology. · Hangzhou Innovation Institute, Beihang University.