# SCFusion: Real-time Incremental Scene Reconstruction with Semantic Completion

arXiv: https://arxiv.org/abs/2010.13662 · HTML: https://mlsanity.com/paper/2010.13662/

## Key facts

- Cited by 25 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Oct 2020.

## Built on by (most cited first, 25 of 25)

- [MonoScene: Monocular 3D Semantic Scene Completion](https://mlsanity.com/paper/2112.00726/) (2021)
- [OpenOccupancy: A Large Scale Benchmark for Surrounding Semantic Occupancy Perception](https://mlsanity.com/paper/2303.03991/) (2023)
- [SelfOcc: Self-Supervised Vision-Based 3D Occupancy Prediction](https://mlsanity.com/paper/2311.12754/) (2023)
- [OccDepth: A Depth-Aware Method for 3D Semantic Scene Completion](https://mlsanity.com/paper/2302.13540/) (2023)
- [3D Semantic Scene Completion: a Survey](https://mlsanity.com/paper/2103.07466/) (2021)
- [Semantic Scene Completion via Integrating Instances and Scene in-the-Loop](https://mlsanity.com/paper/2104.03640/) (2021)
- [POP-3D: Open-Vocabulary 3D Occupancy Prediction from Images](https://mlsanity.com/paper/2401.09413/) (2024)
- [EmbodiedOcc: Embodied 3D Occupancy Prediction for Vision-based Online Scene Understanding](https://mlsanity.com/paper/2412.04380/) (2024)
- [Hierarchical Temporal Context Learning for Camera-based Semantic Scene Completion](https://mlsanity.com/paper/2407.02077/) (2024)
- [Monocular Occupancy Prediction for Scalable Indoor Scenes](https://mlsanity.com/paper/2407.11730/) (2024)
- [Bridging Stereo Geometry and BEV Representation with Reliable Mutual Interaction for Semantic Scene Completion](https://mlsanity.com/paper/2303.13959/) (2023)
- [Learning Local Displacements for Point Cloud Completion](https://mlsanity.com/paper/2203.16600/) (2022)
- [SLCF-Net: Sequential LiDAR-Camera Fusion for Semantic Scene Completion using a 3D Recurrent U-Net](https://mlsanity.com/paper/2403.08885/) (2024)
- [OccScene: Semantic Occupancy-based Cross-task Mutual Learning for 3D Scene Generation](https://mlsanity.com/paper/2412.11183/) (2024)
- [PanoSSC: Exploring Monocular Panoptic 3D Scene Reconstruction for Autonomous Driving](https://mlsanity.com/paper/2406.07037/) (2024)
- [Hierarchical Context Alignment with Disentangled Geometric and Temporal Modeling for Semantic Occupancy Prediction](https://mlsanity.com/paper/2412.08243/) (2024)
- [LaRI: Layered Ray Intersections for Single-view 3D Geometric Reasoning](https://mlsanity.com/paper/2504.18424/) (2025)
- [SC-Explorer: Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and Planning](https://mlsanity.com/paper/2208.08307/) (2022)
- [Semi-supervised 3D Semantic Scene Completion with 2D Vision Foundation Model Guidance](https://mlsanity.com/paper/2408.11559/) (2024)
- [Multi-View Pedestrian Occupancy Prediction with a Novel Synthetic Dataset](https://mlsanity.com/paper/2412.13569/) (2024)
- [Monocular Open Vocabulary Occupancy Prediction for Indoor Scenes](https://mlsanity.com/paper/2602.22667/) (2026)
- [Self-supervised Latent Space Optimization with Nebula Variational Coding](https://mlsanity.com/paper/2506.01414/) (2025)
- [YouTube-Occ: Learning Indoor 3D Semantic Occupancy Prediction from YouTube Videos](https://mlsanity.com/paper/2506.18266/) (2025)
- [DOCTR: Disentangled Object-Centric Transformer for Point Scene Understanding](https://mlsanity.com/paper/2403.16431/) (2024)
- [PanOVOcc: Panoramic Embodied Open-Vocabulary Occupancy Mapping with Long-term Spatial Voxel Memory](https://mlsanity.com/paper/2609.31716/) (2026)

## Abstract (arXiv)

Real-time scene reconstruction from depth data inevitably suffers from occlusion, thus leading to incomplete 3D models. Partial reconstructions, in turn, limit the performance of algorithms that leverage them for applications in the context of, e.g., augmented reality, robotic navigation, and 3D mapping. Most methods address this issue by predicting the missing geometry as an offline optimization, thus being incompatible with real-time applications. We propose a framework that ameliorates this issue by performing scene reconstruction and semantic scene completion jointly in an incremental and real-time manner, based on an input sequence of depth maps. Our framework relies on a novel neural architecture designed to process occupancy maps and leverages voxel states to accurately and efficiently fuse semantic completion with the 3D global model. We evaluate the proposed approach quantitatively and qualitatively, demonstrating that our method can obtain accurate 3D semantic scene completion in real-time.