Multi-Scale Occ: 4th Place Solution for CVPR 2023 3D Occupancy Prediction Challenge

Yangyang Ding, Luying Huang, Jiachen Zhong

2023-06-20Prediction Of Occupancy Grid Maps Prediction

Abstract

In this report, we present the 4th place solution for CVPR 2023 3D occupancy prediction challenge. We propose a simple method called Multi-Scale Occ for occupancy prediction based on lift-splat-shoot framework, which introduces multi-scale image features for generating better multi-scale 3D voxel features with temporal fusion of multiple past frames. Post-processing including model ensemble, test-time augmentation, and class-wise thresh are adopted to further boost the final performance. As shown on the leaderboard, our proposed occupancy prediction method ranks the 4th place with 49.36 mIoU.

Results

Task	Dataset	Metric	Value	Model
Prediction Of Occupancy Grid Maps	Occ3D-nuScenes	mIoU	52.45	MiLO

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