mlsanityData to 14 Oct 2026

DepthSSC: Monocular 3D Semantic Scene Completion via Depth-Spatial Alignment and Voxel Adaptation

arXiv 2311.17084 ↗First posted 28 Nov 2023cs.CVcited by 32

Not on the map. Why?

Abstract (arXiv)

The task of 3D semantic scene completion using monocular cameras is gaining significant attention in the field of autonomous driving. This task aims to predict the occupancy status and semantic labels of each voxel in a 3D scene from partial image inputs. Despite numerous existing methods, many face challenges such as inaccurately predicting object shapes and misclassifying object boundaries. To address these issues, we propose DepthSSC, an advanced method for semantic scene completion using only monocular cameras. DepthSSC integrates the Spatial Transformation Graph Fusion (ST-GF) module with Geometric-Aware Voxelization (GAV), enabling dynamic adjustment of voxel resolution to accommodate the geometric complexity of 3D space. This ensures precise alignment between spatial and depth information, effectively mitigating issues such as object boundary distortion and incorrect depth perception found in previous methods. Evaluations on the SemanticKITTI and SSCBench-KITTI-360 dataset demonstrate that DepthSSC not only captures intricate 3D structural details effectively but also achieves state-of-the-art performance.

Key facts. Cited by 32 papers in the map (data through 14 Oct 2026). Builds on 36 of its 46 references that are in the map. First posted on arXiv 28 Nov 2023.

Builds on

36 of 46 references.

References · 36

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2016Feature Pyramid Networks for Object Detectioncited by 5,036
  3. 2020Deformable DETR: Deformable Transformers for End-to-End Object Detectioncited by 3,422
  4. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,218
  5. 2020Simple and Deep Graph Convolutional Networkscited by 860
  6. 2021BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-Viewcited by 713
  7. 2020AdaBins: Depth Estimation using Adaptive Binscited by 601
  8. 2016Semantic Scene Completion from a Single Depth Imagecited by 472
  9. 2023Tri-Perspective View for Vision-Based 3D Semantic Occupancy Predictioncited by 409
  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
24 more
  1. 2023VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completioncited by 313
  2. 2023OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Predictioncited by 293
  3. 2020Sparse Single Sweep LiDAR Point Cloud Segmentation via Learning Contextual Shape Priors from Scene Completioncited by 223
  4. 2020Non-Local Spatial Propagation Network for Depth Completioncited by 195
  5. 2020LMSCNet: Lightweight Multiscale 3D Semantic Completioncited by 188
  6. 2020Anisotropic Convolutional Networks for 3D Semantic Scene Completioncited by 127
  7. 2020S3CNet: A Sparse Semantic Scene Completion Network for LiDAR Point Cloudscited by 102
  8. 2023Symphonize 3D Semantic Scene Completion with Contextual Instance Queriescited by 90
  9. 2023NDC-Scene: Boost Monocular 3D Semantic Scene Completion in Normalized Device Coordinates Spacecited by 90
  10. 2023OccDepth: A Depth-Aware Method for 3D Semantic Scene Completioncited by 86
  11. 2023SCPNet: Semantic Scene Completion on Point Cloudcited by 80
  12. 2023SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Drivingcited by 75
  13. 2020Semantic Scene Completion using Local Deep Implicit Functions on LiDAR Datacited by 74
  14. 2020Fast and Robust Iterative Closest Pointcited by 67
  15. 2019Efficient Semantic Scene Completion Network with Spatial Group Convolutioncited by 66
  16. 2019RGBD Based Dimensional Decomposition Residual Network for 3D Semantic Scene Completioncited by 55
  17. 2018Two Stream 3D Semantic Scene Completioncited by 48
  18. 2019Cascaded Context Pyramid for Full-Resolution 3D Semantic Scene Completioncited by 43
  19. 2020Depth Based Semantic Scene Completion with Position Importance Aware Losscited by 37
  20. 2019ForkNet: Multi-branch Volumetric Semantic Completion from a Single Depth Imagecited by 32
  21. 2023LODE: Locally Conditioned Eikonal Implicit Scene Completion from Sparse LiDARcited by 31
  22. 2022Cross-Modal Learning with 3D Deformable Attention for Action Recognitioncited by 20
  23. 2023DebSDF: Delving into the Details and Bias of Neural Indoor Scene Reconstructioncited by 17
  24. 2021VMNet: Voxel-Mesh Network for Geodesic-Aware 3D Semantic Segmentationcited by 2

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 3; 2024: 3; 2025: 15; 2026: 11.

32 papers.

Sort:

By area:

  1. 2025Think with 3D: Geometric Imagination Grounded Spatial Reasoning from Limited Viewscited by 65
  2. 2023Camera-based 3D Semantic Scene Completion with Sparse Guidance Networkcited by 40
  3. 2024A Survey on Occupancy Perception for Autonomous Driving: The Information Fusion Perspectivecited by 37
  4. 2024DrivingRecon: Large 4D Gaussian Reconstruction Model For Autonomous Drivingcited by 29
  5. 2025MonoFusion: Sparse-View 4D Reconstruction via Monocular Fusioncited by 19
  6. 2025Top-Down Semantic Refinement for Image Captioningcited by 16
  7. 2023Building Lane-Level Maps from Aerial Imagescited by 13
  8. 2024Offboard Occupancy Refinement with Hybrid Propagation for Autonomous Drivingcited by 12
  9. 2025FlashVLM: Text-Guided Visual Token Selection for Large Multimodal Modelscited by 11
  10. 2025Does Bigger Mean Better? Comparitive Analysis of CNNs and Biomedical Vision Language Modles in Medical Diagnosiscited by 9
  11. 2025STORM: Search-Guided Generative World Models for Robotic Manipulationcited by 7
  12. 2025Rainbow Noise: Stress-Testing Multimodal Harmful-Meme Detectors on LGBTQ Contentcited by 6
20 more
  1. 2023DAP: Domain-aware Prompt Learning for Vision-and-Language Navigationcited by 4
  2. 2025CoAgent: Collaborative Planning and Consistency Agent for Coherent Video Generationcited by 4
  3. 2025Enhancing 3D Semantic Scene Completion with a Refinement Modulecited by 3
  4. 2026FlowSSC: Universal Generative Monocular Semantic Scene Completion via One-Step Latent Diffusioncited by 2
  5. 2026AgriWorld:A World Tools Protocol Framework for Verifiable Agricultural Reasoning with Code-Executing LLM Agentscited by 2
  6. 2025MoE-DiffuSeq: Enhancing Long-Document Diffusion Models with Sparse Attention and Mixture of Expertscited by 1
  7. 2025HD2-SSC: High-Dimension High-Density Semantic Scene Completion for Autonomous Drivingcited by 0
  8. 2025A Three-Level Alignment Framework for Large-Scale 3D Retrieval and Controlled 4D Generationcited by 0
  9. 2025Learning Dynamic Scene Reconstruction with Sinusoidal Geometric Priorscited by 0
  10. 2025Towards Efficient Post-Training via Fourier-Driven Adapter Architecturescited by 0
  11. 2025Self-Rewarded Multimodal Coherent Reasoning Across Diverse Visual Domainscited by 0
  12. 2026Multi-Agent Cooperative Learning for Robust Vision-Language Alignment under OOD Conceptscited by 0
  13. 2026Bridging the Semantic Chasm: Synergistic Conceptual Anchoring for Generalized Few-Shot and Zero-Shot OOD Perceptioncited by 0
  14. 2026Multi-Resolution Alignment for Voxel Sparsity in Camera-Based 3D Semantic Scene Completioncited by 0
  15. 2026A Scalable Curiosity-Driven Game-Theoretic Framework for Long-Tail Multi-Label Learning in Data Miningcited by 0
  16. 2026CloudDiffusion: Diffusion-Based Scene Completion in the Point Cloud Domaincited by 0
  17. 2026RayLift: Lifting Complementary Ray-Wise Evidence with 3D Geometry Priors for Semantic Scene Completioncited by 0
  18. 2026SSC-Priors: Exploring Semantic and Visibility Priors to Boost Lidar Semantic Scene Completioncited by 0
  19. 2026CrowdOcc: Monocular Semantic Scene Completion for Quadruped Robots in Crowded Indoor Environmentscited by 0
  20. 2026CacheScope: Exact-Compute Allocation for Training-Free Diffusion Accelerationcited by 0