mlsanityData to 7 Oct 2026

3D Semantic Scene Completion: a Survey

arXiv 2103.07466 ↗First posted 12 Mar 2021cs.CVcited by 74

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Abstract (arXiv)

Semantic Scene Completion (SSC) aims to jointly estimate the complete geometry and semantics of a scene, assuming partial sparse input. In the last years following the multiplication of large-scale 3D datasets, SSC has gained significant momentum in the research community because it holds unresolved challenges. Specifically, SSC lies in the ambiguous completion of large unobserved areas and the weak supervision signal of the ground truth. This led to a substantially increasing number of papers on the matter. This survey aims to identify, compare and analyze the techniques providing a critical analysis of the SSC literature on both methods and datasets. Throughout the paper, we provide an in-depth analysis of the existing works covering all choices made by the authors while highlighting the remaining avenues of research. SSC performance of the SoA on the most popular datasets is also evaluated and analyzed.

Key facts. Cited by 74 papers in the map (data through 7 Oct 2026). Builds on 110 of its 183 references that are in the map. First posted on arXiv 12 Mar 2021.

Builds on

110 of 183 references.

References · 110

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38 more
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  22. 2020Sparse Single Sweep LiDAR Point Cloud Segmentation via Learning Contextual Shape Priors from Scene Completioncited by 222
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50 most cited of 110 All 110 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 3; 2022: 7; 2023: 19; 2024: 23; 2025: 11; 2026: 11.

74 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. 2023OpenOccupancy: A Large Scale Benchmark for Surrounding Semantic Occupancy Perceptioncited by 218
  4. 2023Symphonize 3D Semantic Scene Completion with Contextual Instance Queriescited by 88
  5. 2023NDC-Scene: Boost Monocular 3D Semantic Scene Completion in Normalized Device Coordinates Spacecited by 88
  6. 2023OccDepth: A Depth-Aware Method for 3D Semantic Scene Completioncited by 85
  7. 2023SCPNet: Semantic Scene Completion on Point Cloudcited by 80
  8. 2023SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Drivingcited by 72
  9. 2023AdaPoinTr: Diverse Point Cloud Completion with Adaptive Geometry-Aware Transformerscited by 65
  10. 2024Volumetric Environment Representation for Vision-Language Navigationcited by 63
  11. 2024POP-3D: Open-Vocabulary 3D Occupancy Prediction from Imagescited by 52
  12. 2022SceneRF: Self-Supervised Monocular 3D Scene Reconstruction with Radiance Fieldscited by 49
38 more
  1. 2024Not All Voxels Are Equal: Hardness-Aware Semantic Scene Completion with Self-Distillationcited by 43
  2. 2023PaSCo: Urban 3D Panoptic Scene Completion with Uncertainty Awarenesscited by 42
  3. 2022MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environmentscited by 40
  4. 2022Deep Learning for Omnidirectional Vision: A Survey and New Perspectivescited by 38
  5. 2023Among Us: Adversarially Robust Collaborative Perception by Consensuscited by 37
  6. 2024A Survey on Occupancy Perception for Autonomous Driving: The Information Fusion Perspectivecited by 37
  7. 2024Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehiclescited by 33
  8. 2024RadarOcc: Robust 3D Occupancy Prediction with 4D Imaging Radarcited by 32
  9. 2024Hierarchical Temporal Context Learning for Camera-based Semantic Scene Completioncited by 32
  10. 2024OccMamba: Semantic Occupancy Prediction with State Space Modelscited by 29
  11. 2023S4C: Self-Supervised Semantic Scene Completion with Neural Fieldscited by 27
  12. 2021Paris-CARLA-3D: A Real and Synthetic Outdoor Point Cloud Dataset for Challenging Tasks in 3D Mappingcited by 25
  13. 2023Grid-Centric Traffic Scenario Perception for Autonomous Driving: A Comprehensive Reviewcited by 25
  14. 2024OccFlowNet: Towards Self-supervised Occupancy Estimation via Differentiable Rendering and Occupancy Flowcited by 22
  15. 2023Bridging Stereo Geometry and BEV Representation with Reliable Mutual Interaction for Semantic Scene Completioncited by 21
  16. 2024DiffSSC: Semantic LiDAR Scan Completion using Denoising Diffusion Probabilistic Modelscited by 16
  17. 2021LUMINOUS: Indoor Scene Generation for Embodied AI Challengescited by 12
  18. 2023Semantic Scene Completion with Cleaner Selfcited by 12
  19. 2024SLCF-Net: Sequential LiDAR-Camera Fusion for Semantic Scene Completion using a 3D Recurrent U-Netcited by 12
  20. 2024Excavating in the Wild: The GOOSE-Ex Dataset for Semantic Segmentationcited by 12
  21. 2025VoxDet: Rethinking 3D Semantic Occupancy Prediction as Dense Object Detectioncited by 12
  22. 2025Feed-Forward SceneDINO for Unsupervised Semantic Scene Completioncited by 11
  23. 2024Distilling Diffusion Models to Efficient 3D LiDAR Scene Completioncited by 10
  24. 2024OccScene: Semantic Occupancy-based Cross-task Mutual Learning for 3D Scene Generationcited by 10
  25. 2025LiDPM: Rethinking Point Diffusion for Lidar Scene Completioncited by 10
  26. 2024Semantically-aware Neural Radiance Fields for Visual Scene Understanding: A Comprehensive Reviewcited by 9
  27. 2024PanoSSC: Exploring Monocular Panoptic 3D Scene Reconstruction for Autonomous Drivingcited by 9
  28. 2024SceneSense: Diffusion Models for 3D Occupancy Synthesis from Partial Observationcited by 8
  29. 2024Hierarchical Context Alignment with Disentangled Geometric and Temporal Modeling for Semantic Occupancy Predictioncited by 8
  30. 2023SSR-2D: Semantic 3D Scene Reconstruction from 2D Imagescited by 7
  31. 2022SC-Explorer: Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and Planningcited by 6
  32. 2022Free-form 3D Scene Inpainting with Dual-stream GANcited by 6
  33. 2023Registered and Segmented Deformable Object Reconstruction from a Single View Point Cloudcited by 6
  34. 2023Semantic Complete Scene Forecasting from a 4D Dynamic Point Cloud Sequencecited by 6
  35. 2023A Simple Framework for 3D Occupancy Estimation in Autonomous Drivingcited by 4
  36. 2024Deep Learning for 3D Point Cloud Enhancement: A Surveycited by 4
  37. 2024ET-Former: Efficient Triplane Deformable Attention for 3D Semantic Scene Completion From Monocular Cameracited by 3
  38. 2025DOC-Depth: A novel approach for dense depth ground truth generationcited by 3

50 most cited of 74 All 74 (JSON)