# Multi-Scale Occ: 4th Place Solution for CVPR 2023 3D Occupancy Prediction Challenge

arXiv: https://arxiv.org/abs/2306.11414 · HTML: https://mlsanity.com/paper/2306.11414/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- Builds on 8 of its 21 references that are in the map.
- First posted on arXiv 20 Jun 2023.

## Builds on (most cited first, 8 of 8)

- [Decoupled Weight Decay Regularization](https://mlsanity.com/paper/1711.05101/) (2017)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-View](https://mlsanity.com/paper/2112.11790/) (2021)
- [BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detection](https://mlsanity.com/paper/2206.10092/) (2022)
- [InternImage: Exploring Large-Scale Vision Foundation Models with Deformable Convolutions](https://mlsanity.com/paper/2211.05778/) (2022)
- [BEVDet4D: Exploit Temporal Cues in Multi-camera 3D Object Detection](https://mlsanity.com/paper/2203.17054/) (2022)
- [SurroundOcc: Multi-Camera 3D Occupancy Prediction for Autonomous Driving](https://mlsanity.com/paper/2303.09551/) (2023)
- [BEVPoolv2: A Cutting-edge Implementation of BEVDet Toward Deployment](https://mlsanity.com/paper/2211.17111/) (2022)

## Built on by (most cited first, 7 of 7)

- [A Survey on Occupancy Perception for Autonomous Driving: The Information Fusion Perspective](https://mlsanity.com/paper/2405.05173/) (2024)
- [Vision-based 3D occupancy prediction in autonomous driving: a review and outlook](https://mlsanity.com/paper/2405.02595/) (2024)
- [VEON: Vocabulary-Enhanced Occupancy Prediction](https://mlsanity.com/paper/2407.12294/) (2024)
- [InverseMatrixVT3D: An Efficient Projection Matrix-Based Approach for 3D Occupancy Prediction](https://mlsanity.com/paper/2401.12422/) (2024)
- [Inverse++: Vision-Centric 3D Semantic Occupancy Prediction Assisted with 3D Object Detection](https://mlsanity.com/paper/2504.04732/) (2025)
- [4DRC-OCC: Robust Semantic Occupancy Prediction Through Fusion of 4D Radar and Camera](https://mlsanity.com/paper/2603.07794/) (2026)
- [Omnidirectional Depth-Aided Occupancy Prediction based on Cylindrical Voxel for Autonomous Driving](https://mlsanity.com/paper/2504.01023/) (2025)

## Abstract (arXiv)

In this report, we present the 4th place solution for CVPR 2023 3D occupancy prediction challenge. We propose a simple method called Multi-Scale Occ for occupancy prediction based on lift-splat-shoot framework, which introduces multi-scale image features for generating better multi-scale 3D voxel features with temporal fusion of multiple past frames. Post-processing including model ensemble, test-time augmentation, and class-wise thresh are adopted to further boost the final performance. As shown on the leaderboard, our proposed occupancy prediction method ranks the 4th place with 49.36 mIoU.