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LMSCNet: Lightweight Multiscale 3D Semantic Completion

arXiv 2008.10559 ↗First posted 24 Aug 2020cs.CVcited by 187

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Abstract (arXiv)

We introduce a new approach for multiscale 3Dsemantic scene completion from voxelized sparse 3D LiDAR scans. As opposed to the literature, we use a 2D UNet backbone with comprehensive multiscale skip connections to enhance feature flow, along with 3D segmentation heads. On the SemanticKITTI benchmark, our method performs on par on semantic completion and better on occupancy completion than all other published methods -- while being significantly lighter and faster. As such it provides a great performance/speed trade-off for mobile-robotics applications. The ablation studies demonstrate our method is robust to lower density inputs, and that it enables very high speed semantic completion at the coarsest level. Our code is available at https://github.com/cv-rits/LMSCNet.

Key facts. Cited by 187 papers in the map (data through 7 Oct 2026). First posted on arXiv 24 Aug 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 4; 2022: 5; 2023: 34; 2024: 60; 2025: 55; 2026: 29.

187 papers.

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  1. 2023Tri-Perspective View for Vision-Based 3D Semantic Occupancy Predictioncited by 404
  2. 2021MonoScene: Monocular 3D Semantic Scene Completioncited by 357
  3. 2023Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Drivingcited by 325
  4. 2023SurroundOcc: Multi-Camera 3D Occupancy Prediction for Autonomous Drivingcited by 310
  5. 2023VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completioncited by 306
  6. 2023OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Predictioncited by 287
  7. 2023OccWorld: Learning a 3D Occupancy World Model for Autonomous Drivingcited by 230
  8. 2023OpenOccupancy: A Large Scale Benchmark for Surrounding Semantic Occupancy Perceptioncited by 218
  9. 2024GaussianFormer: Scene as Gaussians for Vision-Based 3D Semantic Occupancy Predictioncited by 155
  10. 2023SelfOcc: Self-Supervised Vision-Based 3D Occupancy Predictioncited by 133
  11. 2023RenderOcc: Vision-Centric 3D Occupancy Prediction with 2D Rendering Supervisioncited by 126
  12. 2024UniScene: Unified Occupancy-centric Driving Scene Generationcited by 102
38 more
  1. 2023COTR: Compact Occupancy TRansformer for Vision-based 3D Occupancy Predictioncited by 94
  2. 2024SparseOcc: Rethinking Sparse Latent Representation for Vision-Based Semantic Occupancy Predictioncited by 94
  3. 2023Symphonize 3D Semantic Scene Completion with Contextual Instance Queriescited by 88
  4. 2023NDC-Scene: Boost Monocular 3D Semantic Scene Completion in Normalized Device Coordinates Spacecited by 88
  5. 2024GaussianFormer-2: Probabilistic Gaussian Superposition for Efficient 3D Occupancy Predictioncited by 83
  6. 2023SCPNet: Semantic Scene Completion on Point Cloudcited by 80
  7. 2023UltraLiDAR: Learning Compact Representations for LiDAR Completion and Generationcited by 76
  8. 20213D Semantic Scene Completion: a Surveycited by 74
  9. 2023SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Drivingcited by 72
  10. 2024Driving in the Occupancy World: Vision-Centric 4D Occupancy Forecasting and Planning via World Models for Autonomous Drivingcited by 67
  11. 2024GaussianWorld: Gaussian World Model for Streaming 3D Occupancy Predictioncited by 66
  12. 2022LiDAR Distillation: Bridging the Beam-Induced Domain Gap for 3D Object Detectioncited by 54
  13. 2023Using a Waffle Iron for Automotive Point Cloud Semantic Segmentationcited by 53
  14. 2024SemCity: Semantic Scene Generation with Triplane Diffusioncited by 53
  15. 2024POP-3D: Open-Vocabulary 3D Occupancy Prediction from Imagescited by 52
  16. 2023PointOcc: Cylindrical Tri-Perspective View for Point-based 3D Semantic Occupancy Predictioncited by 51
  17. 2023Cam4DOcc: Benchmark for Camera-Only 4D Occupancy Forecasting in Autonomous Driving Applicationscited by 50
  18. 2024Context and Geometry Aware Voxel Transformer for Semantic Scene Completioncited by 50
  19. 2022SceneRF: Self-Supervised Monocular 3D Scene Reconstruction with Radiance Fieldscited by 49
  20. 2023OctreeOcc: Efficient and Multi-Granularity Occupancy Prediction Using Octree Queriescited by 48
  21. 2024Co-Occ: Coupling Explicit Feature Fusion with Volume Rendering Regularization for Multi-Modal 3D Semantic Occupancy Predictioncited by 46
  22. 2022Comprehensive Review of Deep Learning-Based 3D Point Cloud Completion Processing and Analysiscited by 44
  23. 2024MonoOcc: Digging into Monocular Semantic Occupancy Predictioncited by 43
  24. 2024Not All Voxels Are Equal: Hardness-Aware Semantic Scene Completion with Self-Distillationcited by 43
  25. 2023PaSCo: Urban 3D Panoptic Scene Completion with Uncertainty Awarenesscited by 42
  26. 2022MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environmentscited by 40
  27. 2023Camera-based 3D Semantic Scene Completion with Sparse Guidance Networkcited by 40
  28. 2024Scaling Diffusion Models to Real-World 3D LiDAR Scene Completioncited by 40
  29. 2023OccNeRF: Advancing 3D Occupancy Prediction in LiDAR-Free Environmentscited by 39
  30. 2021Semantic Segmentation-assisted Scene Completion for LiDAR Point Cloudscited by 37
  31. 2024A Survey on Occupancy Perception for Autonomous Driving: The Information Fusion Perspectivecited by 37
  32. 2024Occupancy as Set of Pointscited by 37
  33. 2023Diffusion Probabilistic Models for Scene-Scale 3D Categorical Datacited by 33
  34. 2024OccFusion: Multi-Sensor Fusion Framework for 3D Semantic Occupancy Predictioncited by 32
  35. 2024RadarOcc: Robust 3D Occupancy Prediction with 4D Imaging Radarcited by 32
  36. 2024Hierarchical Temporal Context Learning for Camera-based Semantic Scene Completioncited by 32
  37. 2025OmniNWM: Omniscient Driving Navigation World Modelscited by 32
  38. 2023SSC-RS: Elevate LiDAR Semantic Scene Completion with Representation Separation and BEV Fusioncited by 30

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