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Scene as Occupancy

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We believe Occupancy serves as a general representation of the scene and could facilitate perception and planning in the full-stack of autonomous driving.

https://github.com/OpenDriveLab/OccNet/assets/54334254/92fb43a0-0ee8-4eab-aa53-0984506f0ec3

Scene as Occupancy

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3D Occupancy Prediction Leaderboard

We provide a full-scale 3D occupancy leaderboard based on the CVPR 2023 Autonomous Driving challenge. Top entries (by 06-09-2023) are provided below. Check the website out!

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Table of Contents

Highlights

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News

Getting Started

Results and Pre-trained Models

We will release pre-trained weight soon.

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TODO List

License & Citation

All assets (including figures) and code are under the Apache 2.0 license unless specified otherwise. The data license inherits the license used in nuScenes dataset.

Please consider citing our paper if the project helps your research with the following BibTex:

@article{sima2023_occnet,
      title={Scene as Occupancy}, 
      author={Chonghao Sima and Wenwen Tong and Tai Wang and Li Chen and Silei Wu and Hanming Deng  and Yi Gu and Lewei Lu and Ping Luo and Dahua Lin and Hongyang Li},
      year={2023},
      eprint={2306.02851},
      archivePrefix={arXiv},
      primaryClass={cs.CV}
}

Challenge

We host the first 3D occupancy prediciton challenge on CVPR 2023 End-to-end Autonomous Driving Workshop. For more information about the challenge, please refer to here.

Related resources

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