# TrackOcc: Camera-based 4D Panoptic Occupancy Tracking

arXiv: https://arxiv.org/abs/2503.08471 · HTML: https://mlsanity.com/paper/2503.08471/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 34 of its 42 references that are in the map.
- First posted on arXiv 11 Mar 2025.

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

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [Masked-attention Mask Transformer for Universal Image Segmentation](https://mlsanity.com/paper/2112.01527/) (2021)
- [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)
- [Panoptic Segmentation](https://mlsanity.com/paper/1801.00868/) (2018)
- [DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queries](https://mlsanity.com/paper/2110.06922/) (2021)
- [BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detection](https://mlsanity.com/paper/2206.10092/) (2022)
- [PETR: Position Embedding Transformation for Multi-View 3D Object Detection](https://mlsanity.com/paper/2203.05625/) (2022)
- [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)
- [Vision Transformer with Deformable Attention](https://mlsanity.com/paper/2201.00520/) (2022)
- [Sparse Single Sweep LiDAR Point Cloud Segmentation via Learning Contextual Shape Priors from Scene Completion](https://mlsanity.com/paper/2012.03762/) (2020)
- [FUTR3D: A Unified Sensor Fusion Framework for 3D Detection](https://mlsanity.com/paper/2203.10642/) (2022)
- [Siam R-CNN: Visual Tracking by Re-Detection](https://mlsanity.com/paper/1911.12836/) (2019)
- [FB-OCC: 3D Occupancy Prediction based on Forward-Backward View Transformation](https://mlsanity.com/paper/2307.01492/) (2023)
- [Video Panoptic Segmentation](https://mlsanity.com/paper/2006.11339/) (2020)
- [Spherical Transformer for LiDAR-based 3D Recognition](https://mlsanity.com/paper/2303.12766/) (2023)
- [FB-BEV: BEV Representation from Forward-Backward View Transformations](https://mlsanity.com/paper/2308.02236/) (2023)
- [COTR: Compact Occupancy TRansformer for Vision-based 3D Occupancy Prediction](https://mlsanity.com/paper/2312.01919/) (2023)
- [MinVIS: A Minimal Video Instance Segmentation Framework without Video-based Training](https://mlsanity.com/paper/2208.02245/) (2022)
- [MUTR3D: A Multi-camera Tracking Framework via 3D-to-2D Queries](https://mlsanity.com/paper/2205.00613/) (2022)
- [DVIS: Decoupled Video Instance Segmentation Framework](https://mlsanity.com/paper/2306.03413/) (2023)
- [STEP: Segmenting and Tracking Every Pixel](https://mlsanity.com/paper/2102.11859/) (2021)
- [4D Panoptic LiDAR Segmentation](https://mlsanity.com/paper/2102.12472/) (2021)
- [MOPT: Multi-Object Panoptic Tracking](https://mlsanity.com/paper/2004.08189/) (2020)
- [CTVIS: Consistent Training for Online Video Instance Segmentation](https://mlsanity.com/paper/2307.12616/) (2023)
- [PaSCo: Urban 3D Panoptic Scene Completion with Uncertainty Awareness](https://mlsanity.com/paper/2312.02158/) (2023)

## Built on by (most cited first, 3 of 3)

- [GS-Occ3D: Scaling Vision-only Occupancy Reconstruction with Gaussian Splatting](https://mlsanity.com/paper/2507.19451/) (2025)
- [Latent Gaussian Splatting for 4D Panoptic Occupancy Tracking](https://mlsanity.com/paper/2602.23172/) (2026)
- [Streaming Gaussian Encoding for 4D Panoptic Occupancy Tracking](https://mlsanity.com/paper/2606.30754/) (2026)

## Abstract (arXiv)

Comprehensive and consistent dynamic scene understanding from camera input is essential for advanced autonomous systems. Traditional camera-based perception tasks like 3D object tracking and semantic occupancy prediction lack either spatial comprehensiveness or temporal consistency. In this work, we introduce a brand-new task, Camera-based 4D Panoptic Occupancy Tracking, which simultaneously addresses panoptic occupancy segmentation and object tracking from camera-only input. Furthermore, we propose TrackOcc, a cutting-edge approach that processes image inputs in a streaming, end-to-end manner with 4D panoptic queries to address the proposed task. Leveraging the localization-aware loss, TrackOcc enhances the accuracy of 4D panoptic occupancy tracking without bells and whistles. Experimental results demonstrate that our method achieves state-of-the-art performance on the Waymo dataset. The source code will be released at https://github.com/Tsinghua-MARS-Lab/TrackOcc.