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Efficient Semantic Scene Completion Network with Spatial Group Convolution

arXiv 1907.05091 ↗First posted 11 Jul 2019cs.CVcited by 66

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Abstract (arXiv)

We introduce Spatial Group Convolution (SGC) for accelerating the computation of 3D dense prediction tasks. SGC is orthogonal to group convolution, which works on spatial dimensions rather than feature channel dimension. It divides input voxels into different groups, then conducts 3D sparse convolution on these separated groups. As only valid voxels are considered when performing convolution, computation can be significantly reduced with a slight loss of accuracy. The proposed operations are validated on semantic scene completion task, which aims to predict a complete 3D volume with semantic labels from a single depth image. With SGC, we further present an efficient 3D sparse convolutional network, which harnesses a multiscale architecture and a coarse-to-fine prediction strategy. Evaluations are conducted on the SUNCG dataset, achieving state-of-the-art performance and fast speed. Code is available at https://github.com/zjhthu/SGC-Release.git

Key facts. Cited by 66 papers in the map (data through 7 Oct 2026). First posted on arXiv 11 Jul 2019.

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Citing papers per year: 2021: 11; 2022: 5; 2023: 17; 2024: 18; 2025: 12; 2026: 3.

66 papers.

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  1. 2021MonoScene: Monocular 3D Semantic Scene Completioncited by 357
  2. 2023VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completioncited by 306
  3. 2023OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Predictioncited by 287
  4. 2023OpenOccupancy: A Large Scale Benchmark for Surrounding Semantic Occupancy Perceptioncited by 218
  5. 2023SelfOcc: Self-Supervised Vision-Based 3D Occupancy Predictioncited by 133
  6. 2023NDC-Scene: Boost Monocular 3D Semantic Scene Completion in Normalized Device Coordinates Spacecited by 88
  7. 2023SCPNet: Semantic Scene Completion on Point Cloudcited by 80
  8. 20213D Semantic Scene Completion: a Surveycited by 74
  9. 2022LargeKernel3D: Scaling up Kernels in 3D Sparse CNNscited by 71
  10. 2023AdaPoinTr: Diverse Point Cloud Completion with Adaptive Geometry-Aware Transformerscited by 65
  11. 2024Volumetric Environment Representation for Vision-Language Navigationcited by 63
  12. 2021Semantic Scene Completion via Integrating Instances and Scene in-the-Loopcited by 54
38 more
  1. 2024Context and Geometry Aware Voxel Transformer for Semantic Scene Completioncited by 50
  2. 2024Co-Occ: Coupling Explicit Feature Fusion with Volume Rendering Regularization for Multi-Modal 3D Semantic Occupancy Predictioncited by 46
  3. 2023PaSCo: Urban 3D Panoptic Scene Completion with Uncertainty Awarenesscited by 42
  4. 2022MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environmentscited by 40
  5. 2023Camera-based 3D Semantic Scene Completion with Sparse Guidance Networkcited by 40
  6. 2021Semantic Segmentation-assisted Scene Completion for LiDAR Point Cloudscited by 37
  7. 2024Occupancy as Set of Pointscited by 37
  8. 2023STEPS: Joint Self-supervised Nighttime Image Enhancement and Depth Estimationcited by 36
  9. 2024RadarOcc: Robust 3D Occupancy Prediction with 4D Imaging Radarcited by 32
  10. 2024Hierarchical Temporal Context Learning for Camera-based Semantic Scene Completioncited by 32
  11. 2023SSC-RS: Elevate LiDAR Semantic Scene Completion with Representation Separation and BEV Fusioncited by 30
  12. 2023DepthSSC: Monocular 3D Semantic Scene Completion via Depth-Spatial Alignment and Voxel Adaptationcited by 30
  13. 2024Monocular Occupancy Prediction for Scalable Indoor Scenescited by 29
  14. 2023S4C: Self-Supervised Semantic Scene Completion with Neural Fieldscited by 27
  15. 2021PQ-Transformer: Jointly Parsing 3D Objects and Layouts from Point Cloudscited by 26
  16. 2021Cerberus Transformer: Joint Semantic, Affordance and Attribute Parsingcited by 22
  17. 2021Not All Voxels Are Equal: Semantic Scene Completion from the Point-Voxel Perspectivecited by 22
  18. 2023SALUDA: Surface-based Automotive Lidar Unsupervised Domain Adaptationcited by 21
  19. 2024LiCROcc: Teach Radar for Accurate Semantic Occupancy Prediction using LiDAR and Cameracited by 18
  20. 2025GaussianFormer3D: Multi-Modal Gaussian-based Semantic Occupancy Prediction with 3D Deformable Attentioncited by 14
  21. 2024Offboard Occupancy Refinement with Hybrid Propagation for Autonomous Drivingcited by 12
  22. 2024HybridOcc: NeRF Enhanced Transformer-based Multi-Camera 3D Occupancy Predictioncited by 12
  23. 2024TALoS: Enhancing Semantic Scene Completion via Test-time Adaptation on the Line of Sightcited by 12
  24. 2022CasFusionNet: A Cascaded Network for Point Cloud Semantic Scene Completion by Dense Feature Fusioncited by 11
  25. 2021Semi-supervised Implicit Scene Completion from Sparse LiDARcited by 10
  26. 2024OccScene: Semantic Occupancy-based Cross-task Mutual Learning for 3D Scene Generationcited by 10
  27. 2021IMENet: Joint 3D Semantic Scene Completion and 2D Semantic Segmentation through Iterative Mutual Enhancementcited by 9
  28. 2021Data Augmented 3D Semantic Scene Completion with 2D Segmentation Priorscited by 9
  29. 2024Label-efficient Semantic Scene Completion with Scribble Annotationscited by 9
  30. 2024PanoSSC: Exploring Monocular Panoptic 3D Scene Reconstruction for Autonomous Drivingcited by 9
  31. 2025Skip Mamba Diffusion for Monocular 3D Semantic Scene Completioncited by 9
  32. 2025PointSea: Point Cloud Completion via Self-structure Augmentationcited by 9
  33. 20253D Occupancy Prediction with Low-Resolution Queries via Prototype-aware View Transformationcited by 9
  34. 2024Hierarchical Context Alignment with Disentangled Geometric and Temporal Modeling for Semantic Occupancy Predictioncited by 8
  35. 2023SSR-2D: Semantic 3D Scene Reconstruction from 2D Imagescited by 7
  36. 2024Boosting Self-Supervision for Single-View Scene Completion via Knowledge Distillationcited by 6
  37. 2025VLScene: Vision-Language Guidance Distillation for Camera-Based 3D Semantic Scene Completioncited by 6
  38. 2022DeepJoin: Learning a Joint Occupancy, Signed Distance, and Normal Field Function for Shape Repaircited by 5

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