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Author:

Hou, Jiawei (Hou, Jiawei.) | Li, Xiaoyan (Li, Xiaoyan.) | Guan, Wenhao (Guan, Wenhao.) | Zhang, Gang (Zhang, Gang.) | Feng, Di (Feng, Di.) | Du, Yuheng (Du, Yuheng.) | Xue, Xiangyang (Xue, Xiangyang.) | Pu, Jian (Pu, Jian.)

Indexed by:

EI Scopus

Abstract:

In autonomous driving, 3D occupancy prediction outputs voxel-wise status and semantic labels for more comprehensive understandings of 3D scenes compared with traditional perception tasks, such as 3D object detection and bird's-eye view (BEV) semantic segmentation. Recent researchers have extensively explored various aspects of this task, including view transformation techniques, ground-truth label generation, and elaborate network design, aiming to achieve superior performance. However, the inference speed, crucial for running on an autonomous vehicle, is neglected. To this end, a new method, dubbed FastOcc, is proposed. By carefully analyzing the network effect and latency from four parts, including the input image resolution, image backbone, view transformation, and occupancy prediction head, it is found that the occupancy prediction head holds considerable potential for accelerating the model while keeping its accuracy. Targeted at improving this component, the time-consuming 3D convolution network is replaced with a novel residual-like architecture, where features are mainly digested by a lightweight 2D BEV convolution network and compensated by integrating the 3D voxel features interpolated from the original image features. Experiments on the Occ3D-nuScenes benchmark demonstrate that our FastOcc achieves state-of-the-art results with a fast inference speed. © 2024 IEEE.

Keyword:

Gluing Semantic Segmentation Macroinvertebrates Prediction models

Author Community:

  • [ 1 ] [Hou, Jiawei]Fudan University, School of Computer Science, Shanghai, China
  • [ 2 ] [Li, Xiaoyan]Beijing University of Technology, Faculty of Information Technology, Beijing; 100124, China
  • [ 3 ] [Guan, Wenhao]Fudan University, School of Computer Science, Shanghai, China
  • [ 4 ] [Zhang, Gang]Mogo Auto Intelligence and Telematics Information Technology Co., Ltd., China
  • [ 5 ] [Feng, Di]Mogo Auto Intelligence and Telematics Information Technology Co., Ltd., China
  • [ 6 ] [Du, Yuheng]Fudan University, School of Computer Science, Shanghai, China
  • [ 7 ] [Xue, Xiangyang]Fudan University, School of Computer Science, Shanghai, China
  • [ 8 ] [Pu, Jian]Fudan University, Institute of Science and Technology for Brain-Inspired Intelligence, Shanghai, China

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ISSN: 1050-4729

Year: 2024

Page: 16425-16431

Language: English

Cited Count:

WoS CC Cited Count:

SCOPUS Cited Count: 4

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 3

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