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CrowdOcc: Monocular Semantic Scene Completion for Quadruped Robots in Crowded Indoor Environments

arXiv 2610.03031 ↗First posted 2 Oct 2026cs.CV cs.ROcited by 0

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Abstract (arXiv)

Monocular semantic scene completion (SSC) for quadruped robots remains underexplored in real crowded indoor environments, where human-scene occlusion disrupts static geometry and human occupancy predictions are often incomplete or spatially misplaced. We present CrowdOcc, an RGB-D dataset and monocular SSC framework for this setting. CrowdOcc contains 25.1K frames from 11 indoor scenes, with semantic occupancy annotations constructed through static dynamic decoupling. Our framework combines: (i) Normal Guided Scene Geometry Fusion (NGSGF) to complement depth-aware lifting with surface-normal cues for occlusion robust geometry; and (ii) Human-Centric Sparse Interaction (HCSI) to selectively model human-human and local human scene relations in 3D. Our method achieves state-of-the-art SSC performance on CrowdOcc's scene-disjoint test set, reaching 15.80 IoU, 11.40 mIoU, and 46.23 Human IoU, demonstrating generalization to unseen indoor scenes.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 41 of its 46 references that are in the map. First posted on arXiv 2 Oct 2026.

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41 of 46 references.

References · 41

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  2. 2023Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detectioncited by 3,332
  3. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,117
  4. 2024SAM 2: Segment Anything in Images and Videoscited by 2,863
  5. 2024Depth Anything: Unleashing the Power of Large-Scale Unlabeled Datacited by 1,360
  6. 2021KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3Dcited by 575
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  8. 2023Tri-Perspective View for Vision-Based 3D Semantic Occupancy Predictioncited by 409
  9. 2021MonoScene: Monocular 3D Semantic Scene Completioncited by 363
  10. 2023Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Drivingcited by 332
  11. 2023SurroundOcc: Multi-Camera 3D Occupancy Prediction for Autonomous Drivingcited by 316
  12. 2023VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completioncited by 313
29 more
  1. 2023OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Predictioncited by 293
  2. 2025MoGe-2: Accurate Monocular Geometry with Metric Scale and Sharp Detailscited by 261
  3. 2023OpenOccupancy: A Large Scale Benchmark for Surrounding Semantic Occupancy Perceptioncited by 221
  4. 2024GaussianFormer: Scene as Gaussians for Vision-Based 3D Semantic Occupancy Predictioncited by 157
  5. 2020Anisotropic Convolutional Networks for 3D Semantic Scene Completioncited by 127
  6. 20203D Sketch-aware Semantic Scene Completion via Semi-supervised Structure Priorcited by 126
  7. 2024SparseOcc: Rethinking Sparse Latent Representation for Vision-Based Semantic Occupancy Predictioncited by 96
  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. 2024GaussianFormer-2: Probabilistic Gaussian Superposition for Efficient 3D Occupancy Predictioncited by 86
  11. 2023SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Drivingcited by 75
  12. 2023Fully Sparse 3D Occupancy Predictioncited by 64
  13. 2019RGBD Based Dimensional Decomposition Residual Network for 3D Semantic Scene Completioncited by 55
  14. 2021Semantic Scene Completion via Integrating Instances and Scene in-the-Loopcited by 55
  15. 2023Cam4DOcc: Benchmark for Camera-Only 4D Occupancy Forecasting in Autonomous Driving Applicationscited by 52
  16. 2024EmbodiedOcc: Embodied 3D Occupancy Prediction for Vision-based Online Scene Understandingcited by 45
  17. 2020Depth Based Semantic Scene Completion with Position Importance Aware Losscited by 37
  18. 2019ForkNet: Multi-branch Volumetric Semantic Completion from a Single Depth Imagecited by 32
  19. 2023DepthSSC: Monocular 3D Semantic Scene Completion via Depth-Spatial Alignment and Voxel Adaptationcited by 32
  20. 2024Monocular Occupancy Prediction for Scalable Indoor Scenescited by 31
  21. 2025EmbodiedOcc++: Boosting Embodied 3D Occupancy Prediction with Plane Regularization and Uncertainty Samplercited by 27
  22. 2023Revisit Human-Scene Interaction via Space Occupancycited by 25
  23. 2023PointSSC: A Cooperative Vehicle-Infrastructure Point Cloud Benchmark for Semantic Scene Completioncited by 14
  24. 2025Feed-Forward SceneDINO for Unsupervised Semantic Scene Completioncited by 13
  25. 2026Generalizing Visual Geometry Priors to Sparse Gaussian Occupancy Predictioncited by 11
  26. 2024WildOcc: A Benchmark for Off-Road 3D Semantic Occupancy Predictioncited by 10
  27. 2025SplatSSC: Decoupled Depth-Guided Gaussian Splatting for Semantic Scene Completioncited by 9
  28. 2025OneOcc: Semantic Occupancy Prediction for Legged Robots with a Single Panoramic Cameracited by 8
  29. 2025Disentangling Instance and Scene Contexts for 3D Semantic Scene Completioncited by 7

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