GenerOcc: Self-supervised Framework of Real-time 3D Occupancy Prediction for Monocular Generic Cameras

• Main Authors: Pan, Xianghui, Du, Jiayuan, Su, Shuai, Zong, Wenhao, Wang, Xiao, Liu, Chengju, Chen, Qijun
• Format: Conference Proceeding
• Language: English
• Subjects: Annotations; Cameras; Depth measurement; Intelligent robots; Probability distribution; Real-time systems; Robot vision systems; Three-dimensional displays
• ISSN: 2153-0866
• DOI: 10.1109/IROS58592.2024.10802337

In the context of 3D scene perception tasks, the significance of 3D occupancy prediction has been progressively growing, aiming to forecast the occupancy state of voxels in a discrete 3D space. However, existing methods typically exhibit several limitations, such as restricted adaptability to non-pinhole cameras due to fixed camera parameters, heavy reliance on 3D annotations because of the inability to project 3D output back to the camera plane, and inferior real-time inference performance resulting from the conversion process from 2D to 3D features. To address these constrains, we introduce GenerOcc, a self-supervised framework of real-time 3D occupancy prediction for monocular generic cameras. We have collected the fisheye Dominant dataset to confirm the compatibility of our ray-based camera model with non-pinhole cameras. By transforming the occupancy prediction task into a depth estimation task in a self-supervised manner, we eliminate dependency on 3D annotations. Furthermore, we propose a parametric voxel probability distribution module that leverages 2D features to quickly predict 3D occupancy without 3D representations of the scene. Additionally, our GenerOcc has been extensively evaluated on public pinhole Occ3D-nuScenes dataset and our proprietary fisheye Dominant dataset, both yielding impressive performance.