# ProtoOcc: Accurate, Efficient 3D Occupancy Prediction Using Dual Branch Encoder-Prototype Query Decoder

arXiv: https://arxiv.org/abs/2412.08774 · HTML: https://mlsanity.com/paper/2412.08774/

## Key facts

- Cited by 17 papers in the map (data through 14 Oct 2026).
- Builds on 34 of its 41 references that are in the map.
- First posted on arXiv 11 Dec 2024.

## Builds on (most cited first, 30 of 34)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3D](https://mlsanity.com/paper/2008.05711/) (2020)
- [BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-View](https://mlsanity.com/paper/2112.11790/) (2021)
- [Understanding the Effective Receptive Field in Deep Convolutional Neural Networks](https://mlsanity.com/paper/1701.04128/) (2017)
- [Tri-Perspective View for Vision-Based 3D Semantic Occupancy Prediction](https://mlsanity.com/paper/2302.07817/) (2023)
- [MonoScene: Monocular 3D Semantic Scene Completion](https://mlsanity.com/paper/2112.00726/) (2021)
- [Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Driving](https://mlsanity.com/paper/2304.14365/) (2023)
- [SurroundOcc: Multi-Camera 3D Occupancy Prediction for Autonomous Driving](https://mlsanity.com/paper/2303.09551/) (2023)
- [VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completion](https://mlsanity.com/paper/2302.12251/) (2023)
- [OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Prediction](https://mlsanity.com/paper/2304.05316/) (2023)
- [Sparse Single Sweep LiDAR Point Cloud Segmentation via Learning Contextual Shape Priors from Scene Completion](https://mlsanity.com/paper/2012.03762/) (2020)
- [OpenOccupancy: A Large Scale Benchmark for Surrounding Semantic Occupancy Perception](https://mlsanity.com/paper/2303.03991/) (2023)
- [Scene as Occupancy](https://mlsanity.com/paper/2306.02851/) (2023)
- [LMSCNet: Lightweight Multiscale 3D Semantic Completion](https://mlsanity.com/paper/2008.10559/) (2020)
- [FB-OCC: 3D Occupancy Prediction based on Forward-Backward View Transformation](https://mlsanity.com/paper/2307.01492/) (2023)
- [Anisotropic Convolutional Networks for 3D Semantic Scene Completion](https://mlsanity.com/paper/2004.02122/) (2020)
- [3D Sketch-aware Semantic Scene Completion via Semi-supervised Structure Prior](https://mlsanity.com/paper/2003.14052/) (2020)
- [PanoOcc: Unified Occupancy Representation for Camera-based 3D Panoptic Segmentation](https://mlsanity.com/paper/2306.10013/) (2023)
- [FlashOcc: Fast and Memory-Efficient Occupancy Prediction via Channel-to-Height Plugin](https://mlsanity.com/paper/2311.12058/) (2023)
- [COTR: Compact Occupancy TRansformer for Vision-based 3D Occupancy Prediction](https://mlsanity.com/paper/2312.01919/) (2023)
- [SparseOcc: Rethinking Sparse Latent Representation for Vision-Based Semantic Occupancy Prediction](https://mlsanity.com/paper/2404.09502/) (2024)
- [Exponential Moving Average Normalization for Self-supervised and Semi-supervised Learning](https://mlsanity.com/paper/2101.08482/) (2021)
- [LargeKernel3D: Scaling up Kernels in 3D Sparse CNNs](https://mlsanity.com/paper/2206.10555/) (2022)
- [FastOcc: Accelerating 3D Occupancy Prediction by Fusing the 2D Bird's-Eye View and Perspective View](https://mlsanity.com/paper/2403.02710/) (2024)
- [PaSCo: Urban 3D Panoptic Scene Completion with Uncertainty Awareness](https://mlsanity.com/paper/2312.02158/) (2023)

## Built on by (most cited first, 17 of 17)

- [SparseWorld: A Flexible, Adaptive, and Efficient 4D Occupancy World Model Powered by Sparse and Dynamic Queries](https://mlsanity.com/paper/2510.17482/) (2025)
- [Semantic Causality-Aware Vision-Based 3D Occupancy Prediction](https://mlsanity.com/paper/2509.08388/) (2025)
- [See through the Dark: Learning Illumination-affined Representations for Nighttime Occupancy Prediction](https://mlsanity.com/paper/2505.20641/) (2025)
- [Out-of-Distribution Semantic Occupancy Prediction](https://mlsanity.com/paper/2506.21185/) (2025)
- [SuperOcc: Toward Cohesive Temporal Modeling for Superquadric-based 3D Occupancy Prediction](https://mlsanity.com/paper/2601.15644/) (2026)
- [Can we Trust Unreliable Voxels? Exploring 3D Semantic Occupancy Prediction under Label Noise](https://mlsanity.com/paper/2603.06279/) (2026)
- [Streaming Dense Voxel Representations for 3D Occupancy Prediction](https://mlsanity.com/paper/2503.22087/) (2025)
- [MAESTRO: Task-Relevant Optimization via Adaptive Feature Enhancement and Suppression for Multi-task 3D Perception](https://mlsanity.com/paper/2509.17462/) (2025)
- [Towards Temporal Fusion Beyond the Field of View for Camera-based Semantic Scene Completion](https://mlsanity.com/paper/2511.12498/) (2025)
- [SUG-Occ: Explicit Semantics and Uncertainty Guided Sparse Learning for Efficient 3D Occupancy Prediction](https://mlsanity.com/paper/2601.11396/) (2026)
- [Adaptive Multi-Scale Channel-Spatial Attention Aggregation Framework for 3D Indoor Semantic Scene Completion Toward Assisting Visually Impaired](https://mlsanity.com/paper/2602.16385/) (2026)
- [ProOOD: Prototype-Guided Out-of-Distribution 3D Occupancy Prediction](https://mlsanity.com/paper/2604.01081/) (2026)
- [Height-Guided Projection Reparameterization for Camera-LiDAR Occupancy](https://mlsanity.com/paper/2605.05072/) (2026)
- [FDR-Occ: Factorized Dense Routing for Full-Spectrum 3D Occupancy Prediction](https://mlsanity.com/paper/2607.03822/) (2026)
- [GaussianSeed: Hierarchical Gaussian Seeding for High-Resolution 3D Occupancy Prediction](https://mlsanity.com/paper/2607.20071/) (2026)
- [DualPathOcc: Dual-Resolution BEV Encoder for 3D Occupancy Prediction](https://mlsanity.com/paper/2609.06370/) (2026)
- [Risk-Aware Occupancy for Safety-Oriented End-to-End Autonomous Driving](https://mlsanity.com/paper/2609.21470/) (2026)

## Abstract (arXiv)

In this paper, we introduce ProtoOcc, a novel 3D occupancy prediction model designed to predict the occupancy states and semantic classes of 3D voxels through a deep semantic understanding of scenes. ProtoOcc consists of two main components: the Dual Branch Encoder (DBE) and the Prototype Query Decoder (PQD). The DBE produces a new 3D voxel representation by combining 3D voxel and BEV representations across multiple scales through a dual branch structure. This design enhances both performance and computational efficiency by providing a large receptive field for the BEV representation while maintaining a smaller receptive field for the voxel representation. The PQD introduces Prototype Queries to accelerate the decoding process. Scene-Adaptive Prototypes are derived from the 3D voxel features of input sample, while Scene-Agnostic Prototypes are computed by applying Scene-Adaptive Prototypes to an Exponential Moving Average during the training phase. By using these prototype-based queries for decoding, we can directly predict 3D occupancy in a single step, eliminating the need for iterative Transformer decoding. Additionally, we propose the Robust Prototype Learning, which injects noise into prototype generation process and trains the model to denoise during the training phase. ProtoOcc achieves state-of-the-art performance with 45.02% mIoU on the Occ3D-nuScenes benchmark. For single-frame method, it reaches 39.56% mIoU with an inference speed of 12.83 FPS on an NVIDIA RTX 3090. Our code can be found at https://github.com/SPA-junghokim/ProtoOcc.