mlsanityData to 14 Oct 2026

PointSSC: A Cooperative Vehicle-Infrastructure Point Cloud Benchmark for Semantic Scene Completion

arXiv 2309.12708 ↗First posted 22 Sep 2023cs.CV cs.AI cs.LGcited by 14

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Abstract (arXiv)

Semantic Scene Completion (SSC) aims to jointly generate space occupancies and semantic labels for complex 3D scenes. Most existing SSC models focus on volumetric representations, which are memory-inefficient for large outdoor spaces. Point clouds provide a lightweight alternative but existing benchmarks lack outdoor point cloud scenes with semantic labels. To address this, we introduce PointSSC, the first cooperative vehicle-infrastructure point cloud benchmark for semantic scene completion. These scenes exhibit long-range perception and minimal occlusion. We develop an automated annotation pipeline leveraging Semantic Segment Anything to efficiently assign semantics. To benchmark progress, we propose a LiDAR-based model with a Spatial-Aware Transformer for global and local feature extraction and a Completion and Segmentation Cooperative Module for joint completion and segmentation. PointSSC provides a challenging testbed to drive advances in semantic point cloud completion for real-world navigation. The code and datasets are available at https://github.com/yyxssm/PointSSC.

Key facts. Cited by 14 papers in the map (data through 14 Oct 2026). Builds on 33 of its 47 references that are in the map. First posted on arXiv 22 Sep 2023.

Builds on

33 of 47 references.

References · 33

  1. 2017Attention Is All You Needcited by 60,361
  2. 2023Segment Anythingcited by 8,234
  3. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  4. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  5. 2016A Point Set Generation Network for 3D Object Reconstruction from a Single Imagecited by 979
  6. 2020PCT: Point cloud transformercited by 732
  7. 2016Semantic Scene Completion from a Single Depth Imagecited by 472
  8. 2023Tri-Perspective View for Vision-Based 3D Semantic Occupancy Predictioncited by 409
  9. 2018PCN: Point Completion Networkcited by 384
  10. 2021MonoScene: Monocular 3D Semantic Scene Completioncited by 363
  11. 2023Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Drivingcited by 332
  12. 2023SurroundOcc: Multi-Camera 3D Occupancy Prediction for Autonomous Drivingcited by 316
21 more
  1. 2023VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completioncited by 313
  2. 2021PoinTr: Diverse Point Cloud Completion with Geometry-Aware Transformerscited by 286
  3. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 273
  4. 2020Sparse Single Sweep LiDAR Point Cloud Segmentation via Learning Contextual Shape Priors from Scene Completioncited by 223
  5. 2023OpenOccupancy: A Large Scale Benchmark for Surrounding Semantic Occupancy Perceptioncited by 221
  6. 2020LMSCNet: Lightweight Multiscale 3D Semantic Completioncited by 188
  7. 2021SnowflakeNet: Point Cloud Completion by Snowflake Point Deconvolution with Skip-Transformercited by 164
  8. 2020Anisotropic Convolutional Networks for 3D Semantic Scene Completioncited by 127
  9. 20203D Sketch-aware Semantic Scene Completion via Semi-supervised Structure Priorcited by 126
  10. 2022DeepInteraction: 3D Object Detection via Modality Interactioncited by 125
  11. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  12. 2023SCPNet: Semantic Scene Completion on Point Cloudcited by 80
  13. 2023AdaPoinTr: Diverse Point Cloud Completion with Adaptive Geometry-Aware Transformerscited by 67
  14. 2021Behind the Curtain: Learning Occluded Shapes for 3D Object Detectioncited by 58
  15. 2022PMP-Net++: Point Cloud Completion by Transformer-Enhanced Multi-step Point Moving Pathscited by 57
  16. 2023ProxyFormer: Proxy Alignment Assisted Point Cloud Completion with Missing Part Sensitive Transformercited by 43
  17. 2023Generative Semantic Segmentationcited by 32
  18. 2021IPS300+: a Challenging Multimodal Dataset for Intersection Perception Systemcited by 26
  19. 2021Not All Voxels Are Equal: Semantic Scene Completion from the Point-Voxel Perspectivecited by 22
  20. 2021BAAI-VANJEE Roadside Dataset: Towards the Connected Automated Vehicle Highway technologies in Challenging Environments of Chinacited by 19
  21. 2022CasFusionNet: A Cascaded Network for Point Cloud Semantic Scene Completion by Dense Feature Fusioncited by 11

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 10; 2026: 4.

14 papers.

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  1. 2025CoopTrack: Exploring End-to-End Learning for Efficient Cooperative Sequential Perceptioncited by 12
  2. 2025PointSea: Point Cloud Completion via Self-structure Augmentationcited by 9
  3. 2025OneOcc: Semantic Occupancy Prediction for Legged Robots with a Single Panoramic Cameracited by 8
  4. 2026CausalVAD: De-confounding End-to-End Autonomous Driving via Causal Interventioncited by 7
  5. 2025GOOD: Training-Free Guided Diffusion Sampling for Out-of-Distribution Detectioncited by 5
  6. 2025OccuFly: A 3D Vision Benchmark for Semantic Scene Completion from the Aerial Perspectivecited by 5
  7. 2025Decoupling Scene Perception and Ego Status: A Multi-Context Fusion Approach for Enhanced Generalization in End-to-End Autonomous Drivingcited by 4
  8. 2025Event-aided Semantic Scene Completioncited by 3
  9. 2025Out-of-Distribution Semantic Occupancy Predictioncited by 2
  10. 2026MacTok: Robust Continuous Tokenization for Image Generationcited by 2
  11. 2025LiGuard: A Streamlined Open-Source Framework for Rapid & Interactive Lidar Researchcited by 0
  12. 2025CasPoinTr: Point Cloud Completion with Cascaded Networks and Knowledge Distillationcited by 0
2 more
  1. 2026VIPS: Vehicle-Infrastructure Cooperative Planning Benchmark via Pseudo-Simulationcited by 0
  2. 2026CrowdOcc: Monocular Semantic Scene Completion for Quadruped Robots in Crowded Indoor Environmentscited by 0