mlsanityData to 7 Oct 2026

NDC-Scene: Boost Monocular 3D Semantic Scene Completion in Normalized Device Coordinates Space

arXiv 2309.14616 ↗First posted 26 Sep 2023cs.CVcited by 88

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Abstract (arXiv)

Monocular 3D Semantic Scene Completion (SSC) has garnered significant attention in recent years due to its potential to predict complex semantics and geometry shapes from a single image, requiring no 3D inputs. In this paper, we identify several critical issues in current state-of-the-art methods, including the Feature Ambiguity of projected 2D features in the ray to the 3D space, the Pose Ambiguity of the 3D convolution, and the Computation Imbalance in the 3D convolution across different depth levels. To address these problems, we devise a novel Normalized Device Coordinates scene completion network (NDC-Scene) that directly extends the 2D feature map to a Normalized Device Coordinates (NDC) space, rather than to the world space directly, through progressive restoration of the dimension of depth with deconvolution operations. Experiment results demonstrate that transferring the majority of computation from the target 3D space to the proposed normalized device coordinates space benefits monocular SSC tasks. Additionally, we design a Depth-Adaptive Dual Decoder to simultaneously upsample and fuse the 2D and 3D feature maps, further improving overall performance. Our extensive experiments confirm that the proposed method consistently outperforms state-of-the-art methods on both outdoor SemanticKITTI and indoor NYUv2 datasets. Our code are available at https://github.com/Jiawei-Yao0812/NDCScene.

Key facts. Cited by 88 papers in the map (data through 7 Oct 2026). Builds on 44 of its 52 references that are in the map. First posted on arXiv 26 Sep 2023.

Builds on

44 of 52 references.

References · 44

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
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32 more
  1. 2016Learning a Probabilistic Latent Space of Object Shapes via 3D Generative-Adversarial Modelingcited by 558
  2. 2016Semantic Scene Completion from a Single Depth Imagecited by 468
  3. 2021MonoScene: Monocular 3D Semantic Scene Completioncited by 357
  4. 2023VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completioncited by 306
  5. 2020Sparse Single Sweep LiDAR Point Cloud Segmentation via Learning Contextual Shape Priors from Scene Completioncited by 222
  6. 2019BSP-Net: Generating Compact Meshes via Binary Space Partitioningcited by 205
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  11. 2018High Quality Monocular Depth Estimation via Transfer Learningcited by 133
  12. 2020Anisotropic Convolutional Networks for 3D Semantic Scene Completioncited by 126
  13. 20203D Sketch-aware Semantic Scene Completion via Semi-supervised Structure Priorcited by 124
  14. 2020Context Prior for Scene Segmentationcited by 121
  15. 2019HorizonNet: Learning Room Layout with 1D Representation and Pano Stretch Data Augmentationcited by 107
  16. 2020S3CNet: A Sparse Semantic Scene Completion Network for LiDAR Point Cloudscited by 102
  17. 2020Pix2Vox++: Multi-scale Context-aware 3D Object Reconstruction from Single and Multiple Imagescited by 79
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  19. 2019Multi-view PointNet for 3D Scene Understandingcited by 76
  20. 2020Semantic Scene Completion using Local Deep Implicit Functions on LiDAR Datacited by 74
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  25. 2020Detection in Crowded Scenes: One Proposal, Multiple Predictionscited by 59
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  27. 2021Semantic Scene Completion via Integrating Instances and Scene in-the-Loopcited by 54
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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 8; 2024: 43; 2025: 22; 2026: 15.

88 papers.

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  1. 2024Exploring Diverse Methods in Visual Question Answeringcited by 45
  2. 2024Not All Voxels Are Equal: Hardness-Aware Semantic Scene Completion with Self-Distillationcited by 43
  3. 2024EmbodiedOcc: Embodied 3D Occupancy Prediction for Vision-based Online Scene Understandingcited by 43
  4. 2023Camera-based 3D Semantic Scene Completion with Sparse Guidance Networkcited by 40
  5. 2024A Survey on Occupancy Perception for Autonomous Driving: The Information Fusion Perspectivecited by 37
  6. 2024Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehiclescited by 33
  7. 2023DepthSSC: Monocular 3D Semantic Scene Completion via Depth-Spatial Alignment and Voxel Adaptationcited by 30
  8. 2024Regional Style and Color Transfercited by 30
  9. 2024Monocular Occupancy Prediction for Scalable Indoor Scenescited by 29
  10. 2024Cross-Task Multi-Branch Vision Transformer for Facial Expression and Mask Wearing Classificationcited by 16
  11. 2024Utilizing Deep Learning to Optimize Software Development Processescited by 15
  12. 2024Attention Mechanism and Context Modeling System for Text Mining Machine Translationcited by 15
38 more
  1. 2023Building Lane-Level Maps from Aerial Imagescited by 12
  2. 2025From Points to Coalitions: Hierarchical Contrastive Shapley Values for Prioritizing Data Samplescited by 12
  3. 2024A Lightweight GAN-Based Image Fusion Algorithm for Visible and Infrared Imagescited by 11
  4. 2023Top-K Pooling with Patch Contrastive Learning for Weakly-Supervised Semantic Segmentationcited by 10
  5. 2024From Handcrafted Features to LLMs: A Brief Survey for Machine Translation Quality Estimationcited by 10
  6. 2024An Enhanced Encoder-Decoder Network Architecture for Reducing Information Loss in Image Semantic Segmentationcited by 10
  7. 2024OccScene: Semantic Occupancy-based Cross-task Mutual Learning for 3D Scene Generationcited by 10
  8. 2025CEC-Zero: Zero-Supervision Character Error Correction with Self-Generated Rewardscited by 10
  9. 2024Label-efficient Semantic Scene Completion with Scribble Annotationscited by 9
  10. 2024Unveiling the Potential of Graph Neural Networks in SME Credit Risk Assessmentcited by 9
  11. 2024OccRWKV: Rethinking Efficient 3D Semantic Occupancy Prediction with Linear Complexitycited by 9
  12. 2025PointSea: Point Cloud Completion via Self-structure Augmentationcited by 9
  13. 2025Decoding with Structured Awareness: Integrating Directional, Frequency-Spatial, and Structural Attention for Medical Image Segmentationcited by 9
  14. 2026Generalizing Visual Geometry Priors to Sparse Gaussian Occupancy Predictioncited by 9
  15. 2023Multi-task Learning with 3D-Aware Regularizationcited by 8
  16. 2024The application of Augmented Reality (AR) in Remote Work and Educationcited by 8
  17. 2024Research on Intelligent Aided Diagnosis System of Medical Image Based on Computer Deep Learningcited by 8
  18. 2024Enhancing Convolutional Neural Networks with Higher-Order Numerical Difference Methodscited by 8
  19. 2024Contrastive Learning for Knowledge-Based Question Generation in Large Language Modelscited by 8
  20. 2024Applying Hybrid Graph Neural Networks to Strengthen Credit Risk Analysiscited by 8
  21. 2024Balancing Innovation and Privacy: Data Security Strategies in Natural Language Processing Applicationscited by 8
  22. 2024A Recommendation Model Utilizing Separation Embedding and Self-Attention for Feature Miningcited by 8
  23. 2024Application of Computer Deep Learning Model in Diagnosis of Pulmonary Nodulescited by 7
  24. 2024Enhancing Deep Learning with Optimized Gradient Descent: Bridging Numerical Methods and Neural Network Trainingcited by 7
  25. 2024Reducing Bias in Deep Learning Optimization: The RSGDM Approachcited by 7
  26. 2024Optimizing News Text Classification with Bi-LSTM and Attention Mechanism for Efficient Data Processingcited by 7
  27. 2025VisHall3D: Monocular Semantic Scene Completion from Reconstructing the Visible Regions to Hallucinating the Invisible Regionscited by 7
  28. 2023Adaptive parameter sharing for multi-agent reinforcement learningcited by 6
  29. 2024Research on Early Warning Model of Cardiovascular Disease Based on Computer Deep Learningcited by 6
  30. 2024Research on Disease Prediction Model Construction Based on Computer AI deep Learning Technologycited by 6
  31. 2024Deep Learning-Based Channel Squeeze U-Structure for Lung Nodule Detection and Segmentationcited by 6
  32. 2024Graph Neural Network Framework for Sentiment Analysis Using Syntactic Featurecited by 6
  33. 2024ReliOcc: Towards Reliable Semantic Occupancy Prediction via Uncertainty Learningcited by 6
  34. 2025VLScene: Vision-Language Guidance Distillation for Camera-Based 3D Semantic Scene Completioncited by 6
  35. 2026Seeing through the Conflict: Transparent Knowledge Conflict Handling in Retrieval-Augmented Generationcited by 6
  36. 2026OccAny: Generalized Unconstrained Urban 3D Occupancycited by 6
  37. 2023QE-BEV: Query Evolution for Bird's Eye View Object Detection in Varied Contextscited by 5
  38. 2023Progressive Multi-Modality Learning for Inverse Protein Foldingcited by 5

50 most cited of 88 All 88 (JSON)